Neatorama reader Denita TwoDragons suggested this YouTube clip:
Spine-tingling 9-minute, full-sound footage of a Space Shuttle launch (July 4th) via an onboard camera mounted to one of the SRBs...from liftoff to splash-down.
Hit play or go to Link [YouTube] - Thanks Denita!
See also: Space Shuttle Discovery Fun Facts | STS-121 Mission [wiki]
Extra points for affixing a transducer to the spaceframe so we get all the nice creaks and pops from the SRB.
I second that, That would be a great video.