Try the following.
1. Reboot your iPhone and then try to create an iCloud backup.
2. If that doesn't work, sign out of iCloud via your iPhone, sign back in to iCloud and then try to create an iCloud backup.
3. Be sure that you are connected to the Internet via Wi-Fi.
What D posted should fix the problem, but if it doesn't... Check to see if you have sufficient storage space on iCloud. Otherwise you may need to backup and restore your iPhone. Hopefully you won't have to. Good luck.