What you are hearing is the pipes vibrating but in this case the driving force is the spinning of the washing machine not the flow of water.
Three possibilities:
Washing machines have 'dampers' inside that, like car shock absorbers, reduce vibration by absorbing the energy and converting it to heat. These wear out over time and become less effective. They can usually be replaced but it may not be economical to do so.
If you have reduced the number of items you are washing there may not be enough to for the machine to balance its load. This will result in increased vibration. Consult your machine's instruction book for details of the correct load.
Pipes should be secured with clips roughly every meter or so. If the clips have come loose or been broken then the pipes will start vibrating. There can be a 'domino' effect. If the clip nearest the machine fails then the unsecured pipe will transmit vibration to the next clip, which will also start to fail, etc.