$new_rules['images/(d*)$'] = 'index.php?attachment_id=$matches[1]';

function wpd_attachment_link( $link, $post_id ){
    $post = get_post( $post_id );
    return home_url( '/images/' . $post->post_title );
}
add_filter( 'attachment_link', 'wpd_attachment_link', 20, 2 );

function ro_remove_attachment_title_caption( $attach_id ){
 $args = array(
   'ID'          => $attach_id,
   'post_name'   => "permalinkName",
 );
 wp_update_post( $args );
}
add_action( 'add_attachment', 'ro_remove_attachment_title_caption', 10, 1 );