Madonna: Truth or Dare, The DVD version was released on August 26, 1997 by LIVE Entertainment in North America

The film was released on home video by LIVE Entertainment in North America on October 9, 1991. Outside of North America it was released as In Bed with Madonna. In the UK an additional VHS "15" certificate, edited version was released in November 1991, to allow younger teenagers to watch it. The packaging was slightly changed to a 'blue' format otherwise identical to the original. In 1992, it was re-released on VHS in the US with two additional live videos of "Like a Prayer" and "Hanky Panky", which played after the end credits. The DVD version was released on August 26, 1997 by LIVE Entertainment in North America but did not get a worldwide DVD release until January 6, 2003 by MGM Entertainment.