Did you flush your rewrite rules after you created the taxonomy?
I tested your code (only changing 'videos' to 'post') by adding to my functions PHP (TwentyEleven Theme WordPress 3.2 Trunk) then flushed my rewrite rules and created a post and gave it the testcat of test1 and the URL worked.
add_action( 'init', 'c3m_wp_stackx');
function c3m_wp_stackx() {
register_taxonomy( 'testcat', 'post', array( 'hierarchical' => True, 'label' => 'testcat', 'query_var' => true, 'rewrite' => true ) );
}
Screenshot:
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