The series was produced and distributed by Warner Bros. Television, which holds the copyright. According to the U.S. Copyright Act, the copyright for a television series lasts for 95 years from the date of first publication or broadcast. The Tarzan series first aired in 1966, which means that the copyright will not expire until 2061.
This means that you cannot use any footage or images from the series without the permission of Warner Bros. Television. If you want to use any of this material, you need to contact the company and get a license.