I had to deal with this same issue and was able to solve it without stopping any of my running containers. This is a solution up-to-date as of February 2016, using Docker 1.9.1. Anyway, this answer is a detailed version of @ricardo-branco's answer, but in more depth for new users.
In my scenario, I wanted to temporarily connect to MySQL running in a container, and since other application containers are linked to it, stopping, reconfiguring, and re-running the database container was a non-starter.
Since I'd like to access the MySQL database externally (from Sequel Pro via SSH tunneling), I'm going to use port 33306 on the host machine. (Not 3306, just in case there is an outer MySQL instance running.)
About an hour of tweaking iptables proved fruitless, even though:
Step by step, here's what I did:
mkdir db-expose-33306
cd db-expose-33306
vim Dockerfile
Edit dockerfile, placing this inside:
# Exposes port 3306 on linked "db" container, to be accessible at host:33306
FROM ubuntu:latest # (Recommended to use the same base as the DB container)
RUN apt-get update && \
apt-get -y install socat && \
apt-get clean
USER nobody
EXPOSE 33306
CMD socat -dddd TCP-LISTEN:33306,reuseaddr,fork TCP:db:3306
Then build the image:
docker build -t your-namespace/db-expose-33306 .
Then run it, linking to your running container. (Use -d instead of -rm to keep it in the background until explicitly stopped and removed. I only want it running temporarily in this case.)
docker run -it --rm --name=db-33306 --link the_live_db_container:db -p 33306:33306 your-namespace/db-expose-33306