The clip shows Keeley Hawes and Richard Madden filming some of the show's most dramatic moments, but also joking around together on set, after the hit BBC series came to an end on Sunday.
The video gives fans a glimpse into how the show was created, with cameras shooting Keeley and Richard from different angles on numerous trucks and trailers.
The more violent, explosive scenes were filmed from above with elaborate crane cameras, while a make-up artist tended to Richard's bloodied appearance between takes.
Despite the drama, the cast proved to still have fun on set – with numerous clips showing Keeley and Richard giggling in front of cameras, and even pretending to duck out of shot as one scene went awry.
The video ended with the cast and crew celebrating the show's 1000th scene by opening a hand-drawn poster of their characters Julia Montague and David Budd.
BBC One shared the video to their Twitter page today, with the caption: "157 crew. 88 shoot days. 56 cast. 23 stunt performers. 6 episodes. 2 directors. 1 writer. 1 epic finale.
"Thanks for watching #Bodyguard on BBC One", alongside a love heart.
11 million viewers tuned in to see CSI Lorraine Craddock, Luke Aitkens and bomb creator Nadia exposed as Julia's killers on Sunday night.
The figures mean the six-episode drama, which hooked the nation from the off, is the BBC's most-watched series for more than a decade.
Viewers were hugely impressed with the finale, and were quick to praise Madden's dramatic suicide vest scene as well as his portrayal of PTSD on Twitter.
Speaking after the finale, creator Jed Mercurio revealed he left no loose ends because he wrote it as just one series.
However he has since revealed it will return for a second series as well as four spin-offs, after being met with such a rave reception.
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