DVD-wise, the available selection is quite straightforward: If you’re an Amazon person, you either you go for the 1982 Brent Walker TV version (which you probably won’t, though the production does share the disc space with “Cox & Box”) or for this Australian production. The latter comes with “HMS Pinafore”, and apart from that can be purchased in a box with other Opera Australia recordings – “Patience”, “The Gondoliers” and “The Mikado”.
If you’re looking for alternatives, the National Gilbert and Sullivan Company is always happy to offer you some, e.g. this one here (comes with “Cox & Box” and “The Zoo”).
And well, naturally, there are some versions of it on Youtube.