Complete ruleset that allows Docker networking behind an iptables firewall with a default drop policy

iptables-docker.rules

*mangle
:PREROUTING ACCEPT [0:0]
:INPUT ACCEPT [0:0]
:FORWARD ACCEPT [0:0]
:OUTPUT ACCEPT [0:0]
:POSTROUTING ACCEPT [0:0]
COMMIT

*nat
:PREROUTING ACCEPT [3530:581109]
:INPUT ACCEPT [278:45315]
:OUTPUT ACCEPT [528:37460]
:POSTROUTING ACCEPT [528:37460]
:DOCKER - [0:0]
-A PREROUTING -m addrtype --dst-type LOCAL -j DOCKER
-A OUTPUT ! -d 127.0.0.0/8 -m addrtype --dst-type LOCAL -j DOCKER
-A POSTROUTING -s 172.17.0.0/16 ! -o docker0 -j MASQUERADE
-A DOCKER -i docker0 -j RETURN
COMMIT

*filter
:INPUT DROP [0:0]
:FORWARD DROP [0:0]
:OUTPUT DROP [0:0]
:DOCKER - [0:0]
:DOCKER-ISOLATION - [0:0]
-A FORWARD -j DOCKER-ISOLATION
-A FORWARD -o docker0 -j DOCKER
-A FORWARD -o docker0 -m conntrack --ctstate RELATED,ESTABLISHED -j ACCEPT
-A FORWARD -i docker0 ! -o docker0 -j ACCEPT
-A FORWARD -i docker0 -o docker0 -j ACCEPT
-A INPUT -i docker0 -j ACCEPT
-A FORWARD -i eth0 -o docker0 -j ACCEPT
-A FORWARD -i docker0 -o eth0 -j ACCEPT
-A OUTPUT -o docker0 -j ACCEPT
-A INPUT -i veth+ -j ACCEPT
-A FORWARD -i veth+ -o docker0 -j ACCEPT
-A FORWARD -i docker0 -o veth+ -j ACCEPT
-A OUTPUT -o veth+ -j ACCEPT
-A DOCKER-ISOLATION -j RETURN