I've just finished viewing the 1st disc in a 4-disc (26 episodes) collection created in conjunction with the UCLA Film & Television Archive (S'More Entertainment, Inc.). So far (aside from the 1st episode), the image quality is quite good. The DVD box is shown on the title page here on IMDb.

"Mr. Peepers" is just as charming as when I first saw it (5-years old at the time) and Wally Cox is truly endearing in this role. If you're in the mood for quiet comedy that sneaks up on you, as opposed to hitting you over the head, you'll treasure this chance to experience all the wonderful characters you might remember from your childhood. Although some of the gags are a bit corny, most are ingenious and well-executed...and even the corny ones are fun. This is one TV series that lives up to my early childhood memories of it.
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positive