Error response from daemon: no status provided on response: unknown

After updating docker-ce to version 19.03.3 via apt I'm encountering the following error messages:

journalctl -u gitlab-runner:

Oct 10 09:44:48 dev2 gitlab-runner[123518]: Checking for jobs... received                       job=19814 repo_url=https://gitlab.xxx.git runner=c2a9376a
Oct 10 09:44:48 dev2 gitlab-runner[123518]: Checking for jobs... received                       job=19814 repo_url=https://gitlab.xxx.git runner=c2a9376a
Oct 10 09:44:49 dev2 gitlab-runner[123518]: ERROR: Job failed (system failure): Error response from daemon: no status provided on response: unknown (executor_docker.go:833:0s)  duration=1.375966579s job=19814 project=58 runner=c2a9376a
Oct 10 09:44:49 dev2 gitlab-runner[123518]: ERROR: Job failed (system failure): Error response from daemon: no status provided on response: unknown (executor_docker.go:833:0s)  duration=1.375966579s job=19814 project=58 runner=c2a9376a
Oct 10 09:44:49 dev2 gitlab-runner[123518]: WARNING: Failed to process runner                   builds=0 error=Error response from daemon: no status provided on response: unknown (executor_docker.go:833:0s) executor=docker runner=c2a9376a
Oct 10 09:44:49 dev2 gitlab-runner[123518]: WARNING: Failed to process runner                   builds=0 error=Error response from daemon: no status provided on response: unknown (executor_docker.go:833:0s) executor=docker runner=c2a9376a

I tried to re-register the runners but now I'm getting the following output on the job-output:

Using Docker executor with image alpine:latest ...
ERROR: Preparation failed: Error response from daemon: no status provided on response: unknown (<autogenerated>:179:0s)
Will be retried in 3s ...
Using Docker executor with image alpine:latest ...
ERROR: Preparation failed: Error response from daemon: no status provided on response: unknown (<autogenerated>:179:0s)
Will be retried in 3s ...
Using Docker executor with image alpine:latest ...
ERROR: Preparation failed: Error response from daemon: no status provided on response: unknown (<autogenerated>:179:0s)
Will be retried in 3s ...
ERROR: Job failed (system failure): Error response from daemon: no status provided on response: unknown (<autogenerated>:179:0s)

My docker version is:

Client: Docker Engine - Community
 Version:           19.03.3
 API version:       1.40
 Go version:        go1.12.10
 Git commit:        a872fc2
 Built:             Tue Oct  8 00:59:54 2019
 OS/Arch:           linux/amd64
 Experimental:      false

Server: Docker Engine - Community
 Engine:
  Version:          19.03.3
  API version:      1.40 (minimum version 1.12)
  Go version:       go1.12.10
  Git commit:       a872fc2
  Built:            Tue Oct  8 00:58:28 2019
  OS/Arch:          linux/amd64
  Experimental:     false
 containerd:
  Version:          1.2.6
  GitCommit:        894b81a4b802e4eb2a91d1ce216b8817763c29fb
 runc:
  Version:          1.0.0-rc8+dev
  GitCommit:        3e425f80a8c931f88e6d94a8c831b9d5aa481657
 docker-init:
  Version:          0.18.0
  GitCommit:        fec3683

and system: (/etc/os-release):

NAME="Ubuntu"
VERSION="16.04.6 LTS (Xenial Xerus)"
ID=ubuntu
ID_LIKE=debian
PRETTY_NAME="Ubuntu 16.04.6 LTS"
VERSION_ID="16.04"
HOME_URL="http://www.ubuntu.com/"
SUPPORT_URL="http://help.ubuntu.com/"
BUG_REPORT_URL="http://bugs.launchpad.net/ubuntu/"
VERSION_CODENAME=xenial
UBUNTU_CODENAME=xenial

Workaround

This is a problem with Docker upstream https://github.com/docker/for-linux/issues/813