Taken from: docker/for-mac#6569 (comment)
Looks like the fault could be a missing symlink between /usr/local/lib/docker/cli-plugins and /Applications/Docker.app/Contents/Resources/cli-plugins
Can you try manually creating this:
mkdir -p /usr/local/lib/docker
ln -s /Applications/Docker.app/Contents/Resources/cli-plugins /usr/local/lib/docker/cli-plugins
The commands may need to be run with sudo if /usr/local is owned by root.