Noisy pipes?

Our cold water pipe is vibrating and causing a loud noise a little bit like a fog horn. This generally happens when it is cold (i.e. first thing in the morning and last thing at night) but can happen at anytime, particularly when the toilet has just been flushed. It also happens when the hot water tank is refilling (e.g. just after having a shower). Any ideas on how to fix it and stop this awful noise? Thanks