Some relevant quotes from St John of Damascus on why icons do not violate the Ten Commandments:
Of old, the incorporeal and uncircumscribed God was not depicted at all. But now that God has appeared in the flesh and lived among men, I make an image of the God who can be seen. I do not worship matter, but I worship the Creator of matter, who through matter effected my salvation. I will not cease to venerate the matter through which my salvation has been effected.
If we made an image of the invisible God, we would certainly be in error ... but we do not do anything of the kind; we do not err, in fact, if we make the image of God incarnate who appeared on earth in the flesh, who in His ineffable goodness, lived with men and assumed the nature, the volume, the form, and the colour of the flesh...
Since the invisible God became visible by taking on flesh, you can fashion the image of Him whom you saw. Since He who has neither body nor form nor quantity nor quality, who goes beyond all grandeur by the excellence of His nature, He, being of divine nature, took on the condition of a slave and reduced Himself to quantity and quality by clothing Himself in human features. Therefore, paint on wood and present for contemplation Him who desired to become visible.