We consider a magnetic impurity deposited on the surface of a strong topological insulator and interacting with the surface modes by a Kondo exchange interaction. Taking into account the warping of the Fermi line of the surface modes, we derive a mapping to an effective one-dimensional model and show that the impurity is fully screened by the surface electrons except when the Fermi level lies exactly at the Dirac point. Using an Abrikosov fermion mean-field theory, we calculate the shape of the electronic density Friedel oscillation resulting from the presence of the Kondo screening cloud. We analyze quantitatively the observability of a sixfold symmetry in the Friedel oscillations for two prototype compounds: Bi2Se3 and Bi2Te3.