Video DownloadHelper is an extension for Firefox and Chrome web browsers.
The most recent release (7.3.7, 26 Jun 2019) addresses problems that were caused by changes to YouTube.
[7] Where aggregation (ADP)[8] or conversion is required by the end user, or by a site from which download is required: if the companion app is unlicensed, the end result will include a watermark (a QR code).
[10] Eric Griffith of PC Magazine named it one of the best Firefox extensions of 2012.
[11] Erez Zukerman of PC World rated it 4/5 stars and called it "a valuable tool".