Starting docker.service fails with "iptables: No chain/target/match by that name"

I've just finished installing docker in a server with Centos, but failed to execute sudo service docker start. Executing sudo service docker restart and reboot the server doesn't help.

• The report error by executing sudo dockerd:

Error creating default "bridge" network: Failed to program FILTER chain: iptables failed: iptables --wait -I FORWARD -o docker0 -m conntrack --ctstate RELATED,ESTABLISHED -j ACCEPT: iptables: No chain/target/match by that name.
 (exit status 1)

• It seems like docker0 cannot be found, so I have checked the iptables by ip a:

...
6: docker0: <BROADCAST,MULTICAST> mtu 1500 qdisc noop state DOWN group default
    link/ether 02:42:81:95:ec:06 brd ff:ff:ff:ff:ff:ff
    inet 172.17.0.1/16 brd 172.17.255.255 scope global docker0
       valid_lft forever preferred_lft forever

• The docker0 exists but its state is DOWN, I don't know if it's the reason.
• Some information about my docker (docker --version) and system environment (uname -a):

Docker version 19.03.4, build 9013bf583a

Linux xxxxxxxxxxxxx 4.19.91-009.ali4000.alios7.x86_64 #1 SMP Mon Jan 25 10:47:38 CST 2021 x86_64 x86_64 x86_64 GNU/Linux

Currently I don't know how to fix it.

Update

• The result of executing sudo iptables -S is as follows:

-P INPUT ACCEPT
-P FORWARD ACCEPT
-P OUTPUT ACCEPT
-N DOCKER
-N DOCKER-ISOLATION-STAGE-1
-N DOCKER-ISOLATION-STAGE-2
-A FORWARD -o docker0 -j DOCKER
-A FORWARD -i docker0 ! -o docker0 -j ACCEPT
-A FORWARD -i docker0 -o docker0 -j ACCEPT
-A DOCKER-ISOLATION-STAGE-1 -j RETURN
-A DOCKER-ISOLATION-STAGE-2 -j RETURN