I'm trying to directly upload a video to my website. I did upload to wp-content/uploads/videos/filename.
Would this be the url?
The default behaviour of wordpress is to upload the file to the wp-content/uploads folder by year and month.
You can go to the media tab in your WP dashboard. Look in the media library for your video and click into it. There will be a dialogue box at the top right that will contain the actual url for the video at your site.
Hope this helps,