Yes, they did.
The one video that was censored was "Dr Pierre Kory Senate Testimony". It is now displayed as just:
This video has been removed for violating YouTube's Community Guidelines.
And of course, this "learn more" is then Google's COVID-19 medical misinformation policy
Don’t post content on YouTube if it includes any of the following:
[...] Claims that Ivermectin or Hydroxychloroquine are effective treatments for COVID-19
As evidenced by Senator Ron Johnson on his webpage "Youtube Censored Me":
The censors at YouTube have decided for all of us that the American public shouldn't be able to hear what senators heard. Apparently they are smarter than medical doctors who have devoted their lives to science and use their skills to save lives. They have decided there is only one medical viewpoint allowed, and it is the viewpoint dictated by government agencies. Government-sanctioned censorship of ideas and speech should frighten us all.
Read my full piece on this Big Tech censorship in the Wall Street Journal: YouTube Cancels the U.S. Senate
Note: YouTube gave us 5 hours warning before deleting Dr. Kory's testimony from my YouTube channel. A few days later the video of that same testimony was also taken down from Fox News Now's YouTube channel, where it had nearly 8 million views. We've seen the video on other YouTube channels like Bloomberg and PBS. The question remains, why selectively delete Dr. Kory's testimony?
Evidently, the 'problematic' video is still to be found on YouTube, in various incarnations, short and long, but on other channels.
The apparent arbitrariness of the very selective censorship left many baffled:
Kory he was "unsurprised" by YouTube's recent actions since he was "already made aware of that testimony video being taken down from numerous other people’s Youtube channels," but questioned the timing.
"Why this week? After two months of it accumulating a massive amount of views?" Kory wondered.
A spokesperson for YouTube defended its actions, stating "We enforce our Community Guidelines considently, regardless of speaker and without regard to political viewpoints. In accordance with our COVID-19 misinformation policy, we removed the two videos in question."
— Joseph A. Wulfsohn: "Physician slams YouTube's 'extremely misguided' decision to pull Senate testimony about COVID treatment
Dr. Pierre Kory testified to lawmakers in December about promising COVID treatment ivermectin", BIG TECH BACKLASH Published February 9, Fox News, 2021.
The FLCCC issued a statement called "FLCCC Response to Senate Testimony Removed by YouTube" (PDF)
If anyone is interested in what Kory said precisely in his testimony before the committee, it is also available in written form from the senate website, with additional 'evidence' in the form of references he used to base his statements on: Testimony of Pierre Kory, MD — Homeland Security Committee Meeting: Focus on Early Treatment of COVID-19 December 8, 2020