I've not used this, but friends have raved about Veritas Press Self-paced History. It's online and interactive, not just videos. (Follows a Classical model.)
Is notebooking or lapbooking an option? (I know with my kids it's been hit or miss.) We've done a few of the lapbook/unit studies from
In the Hands of a Child and they've been fun.
Homeschool Legacy has some nice units (we've done Victoria and one other). We also did a project or two from
Adventure Homeschool. Those are designed as all-inclusive Unit Studies and tend to be a little more science-based, but include some history. I used them as enrichment projects here and there, (or as burn-out relief) but I think if you strung enough together, you could create a year's worth of chronological, hands-on projects with adequate depth. Most of them include videos to watch.
Homeschool in the Woods makes lovely old world style materials. (I have gobs of it!) The unit studies are hands-on project heavy, but they also include fair amount of reading and more audio than video, so that might not be for you guys. There are some great projects, though - I have units that include recipes, 3-d games, newspaper writing, puppets, boat models, all sorts of stuff. I've used the timeline figures most extensively. (And not on timelines!
)