I run docker images and get something like this:
docker images
REPOSITORY TAG IMAGE ID CREATED VIRTUA
In addition to Dag's answer, you can permanently change the format of the output from docker images by adding your custom format to your ~/.docker/config.json file:
"imagesFormat": "table {{.Repository}}\\t{{.Tag}}\\t{{.ID}}\\t{{.Size}}\\t{{.CreatedAt}}"