On DVD? No.
Live at the Rainbow was released on VHS, sometime before you were born, but it has not been released on DVD yet. On the upswing, there are many 70's era shows that can be found on bootleg.
the bootleg dvd that i have of live at the rainbow is just as good quality as the video. it still has all those horrible edits in it though.
most of it is good though, esp white queen which is awesome