David Richards is known to have edited tracks from Innuendo through Made In Heaven (and most likely others long before and after) , including some especially for the Greatest Hits II CD for which he is credited in the booklet.
In an article on his site at www.mountainstudios.com
he mentions being in contact with Roger while doing the 'Too Much Love' edit, so of course Queen knew of and approved of such edits.
For videos, sometimes single versions were used, and sometimes they actually feature slightly extended versions (Invisible Man uses a bit of the 12" mix at the beginning, The Miracle goes on a bit longer at the end, Headlong has an extra 5 seconds around the 1 minute mark).
If you want to see a really awful video collection in terms of edits, check out the original Greatest Flix sometime. The tracks were crossfaded into each other resulting in shorter versions.