On September 13, 2011, Motown is releasing the Motown Gold From the Ed Sullivan Show DVD. Based on the description and the song list, the video appears to contain some footage of David, Eddie, Paul, Melvin & Otis.
You can vist Amazon.com for more information.
Side Note: I wish Motown would just release a DVD of all the televised performances and call it a day. Why should they be lumped together with everyone else? If Motown can also release a separate DVD for the Supremes titled The Best of the Supremes on the Ed Sullivan Show who are also featured on the Motown Gold DVD mentioned above, then why can't the same be done for the Tempts. 40+ years later and the Tempations are still getting short changed. Oh, the inequity. Ruffin's complaints were so on point.