No, it has not. Several years ago, Bci/Eclipse released an unoffical DVD of the 1974 compilation film The Green Hornet (as it was titled in the U.S., designed to cash in on Bruce Lee), while Bonzai Media Corporation packaged the 1976 follow up, Fury of the Dragon. Both look like the 35mm film was dipped in mud, then transferred on a deck from 1980! No kidding!
If you're looking for The Green Hornet episodes where the Batman TV series is playing on TV sets, you can try youtube for the episode "The Secret of the Sally Bell". I think there's another episode with a clip of Batman & Robin in the middle of a Bat-climb, but I cannot recall the episode.
If you're more of a completist, then I guess you would want it. As a matter of quality, it is horrible, with West and Ward looking very much their late 1970s ages (in other words, not at all like the TV series), with poorly fitting costumes all in the middle of terrible attempts at comedy, and self-parody that only served to sell the false idea that 1966 Batman was a joke.Lastly, should I even bother trying to get Legends of the Superheroes?
I will not compare it to high quality superhero productions of the 70s (e.g. Superman the Movie & The Incredible Hulk TV series), but Legends even suffers compared to the relatively low budgeted Shazam! TV series from Filmation.