The heavy metal act invited a camera crew to film shows and backstage antics towards the end of the group's 2015 tour, not knowing the dates would be Lemmy's last.
The footage from shows in Munich, Germany will now make up the documentary Clean Your Clock.
The band also plans to release a live album of tracks from the shows.
Lemmy died on 28 December (15), just two days after discovering he had cancer.
The band's final show took place in Berlin on 11 December (15).