The three shows attracted a total of 375,000 fans, becoming the "biggest music event in British history".
In Australia, the DVD went on to sell 165,000 copies, 25,000 more than the actual album.
Williams' former Take That bandmate Mark Owen was invited to perform "Back for Good" on stage with him at Knebworth.
After performing with Williams, Owen returned to the spotlight, signing a deal with Island/Universal Records.
Between-song banter and various mini-songs can be found between some of the songs on the album in pregaps: In Mexico and Argentina, EMI Music sent a promotional CD to radio stations featuring "Feel" and "Angels" live from the show.