youtube-dl is a python package that allows you to download videos from youtube. You can also use yt-dlp, that is an actively maintained fork of youtube-dl.
You can install it on Ubuntu with the command
apt install youtube-dl -y
On CentOS
yum install python-pip pip install youtube-dl
To download a video, use
youtube-dl -f 18 https://www.youtube.com/watch?v=j9oDMb7S6iw
To download only audio, use
youtube-dl -f 140 https://www.youtube.com/watch?v=j9oDMb7S6iw
Replace youtube video URL with URL of the video you need to download.
To see all available formats for download, run
[root@server12 dn]# youtube-dl -F https://www.youtube.com/watch?v=VIDEO_ID [youtube] Confirming age [youtube] VIDEO_ID: Downloading webpage [youtube] VIDEO_ID: Downloading video info webpage [youtube] VIDEO_ID: Extracting video information [youtube] VIDEO_ID: Downloading DASH manifest [info] Available formats for VIDEO_ID: format code extension resolution note 139 m4a audio only DASH audio 56k , audio@ 48k (22050Hz), 42.01MiB (worst) 140 m4a audio only DASH audio 136k , audio@128k (44100Hz), 111.80MiB 141 m4a audio only DASH audio 262k , audio@256k (44100Hz), 222.02MiB 160 mp4 256x144 DASH video 130k , video only, 89.70MiB 133 mp4 426x240 DASH video 274k , video only, 213.53MiB 134 mp4 640x360 DASH video 608k , video only, 259.05MiB 135 mp4 854x480 DASH video 1117k , video only, 559.52MiB 136 mp4 1280x720 DASH video 2244k , video only, 1.15GiB 17 3gp 176x144 36 3gp 320x240 5 flv 400x240 43 webm 640x360 18 mp4 640x360 22 mp4 1280x720 (best) [root@server12 dn]#