Ok, the Falcon 9 1.2 [1] is 70m tall [2], and the rocket fills up about 80% of the vertical frame [3].
Using the "Image = FL * Obj / distance" equation, we get:
.8 * 24mm = x * 70m/4080m
Where x is the focal length of the lens assuming a full frame camera.
This comes out to a x = 1119mm equivalent focal length. If you have a crop sensor, this isn't too hard to obtain. I'd be amused if the video was taken with a Canon EF 1200mm lens or something, but the probability of that is 0.
[1] https://en.wikipedia.org/wiki/Amos-6
[2] https://en.wikipedia.org/wiki/Falcon_9_Full_Thrust
[3] https://www.youtube.com/watch?v=_BgJEXQkjNQ#t=1m10s