To directly answer your question, just add the following content to a file called /etc/init/docker-chmod.conf to get your permissions set during boot.
start on startup
task
exec chmod 666 /var/run/docker.sock
But you should consider adding your, or a system user, to the docker-unix group to avoid workarounds like this which could be a big potential security threat.
The result of your chmod practically gives all local users read and write permissions to the docker-socket which allows anyone to interfere with your docker images.