If you want a soccer game broadcast style of video then go for a low-distortion zoom lens. 24-70 on a tripod could be your go-to lens.
If you want something more up close then the 70-200 or the new Sigma 120-300 is a great choice.
In fact what you may want is the Bigma, bolded to emphasize its bigness, the Sigma 50-500 f/4.5-6.3 superzoom. Since for video you don't need super sharp resolution this lens might suit your needs very, very well. If you want a more Canon solution the 18-135 or 18-200 are good choices, since they have the wide angle that the Bigma misses out on.
I'd gravitate toward the superzooms for their massive ranges that come in handy in sports.