I'm no plumber but I'm pretty good with the Interwebs. This sounded promising, is easy to try, and is free. If it doesn't work I didn't cost you anything so my conscience is clear.
What you are describing is water hammer. Quick opening valves, ie: washing machines, ice makers, etc., open and close very fast. When water is flowing, and the valve shuts, a shock wave is created inside the pipe, and any loose piping is going to rattle. There should be some pipes, at the highest point in your water system, the stand straight up, and they are capped off. These are air chambers. There should be some air trapped inside of these pipes, that acts as a cushion, for the water to push against. Over a period of time, the water is pushed out, and needs to be replaced. Turn off the main water valve, and open all the faucets in the house. This drains the water out, and allows air in to the pipes, thus replenishing the air in the air chambers. Now turn off all the faucets, and turn the main water back on. This should alleviate the problem. This should be done as needed, or every few years. Good luck!