youtube-dl is a small command-line program to download videos from YouTube.com and other sites that don't provide direct links to the videos served. To install youtrube-dl in all currently supported versions of Ubuntu run the following command:
sudo apt install youtube-dl
In addition to serving normally formatted videos with an embedded audio track, YouTube also serves videos with the audio and video tracks separated into two separate files. To download the video only without the audio run the following command to list all available video formats.
youtube-dl -F <video-URL>
Replace <video-URL> with the URL of the video that you want to download. Select a video format that says video only after it. In the following example I use the format code 160 which downloads mp4 video only, no audio.
youtube-dl -f 160 <video-URL>
Format code 160 is a low quality video, but there are usually several higher quality formats available for YouTube videos.