Change the Permalink for wordpress attachment

My attachments are currently rewritten from
http://localhost/?attachment_id=3 to
http://localhost/images/image-title using @Bainternet’s answer here.

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

However, wordpress still refers to the link as the default http://localhost/?attachment_id=3. WordPress functions such as the_permalink, get_attachment_url, get_attachment_image_src, etc. all use the default format of http://localhost/?attachment_id=3.

I am able to access the image as intended if I manually type in the rewritten format http://localhost/images/image-title.

How can I get wordpress to use my custom rewrite for the permalink especially on the admin page?

EDIT: reworded question for specificity and correctness:
How do I override the_permalink to use the format /images/image-title instead of /?attachment_id=ID?
I can get image-title using $post->post_title.

EDIT #2:
For anyone reading this question in the future, I found it best to use $post->post_name for the link to insure uniqueness.
/images/post_title

Your rule works with the attachment ID, so I’m not sure how you’re using the title, but the answer is almost identical in either case. The filter you want is attachment_link:

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 );

Change $post->post_title to $post->ID to put the ID in the URL instead of title.