YouTube is serving thumbnails from 2 servers. You just need to replace <YouTube_Video_ID_HERE> with your own YouTube video id. These days webP is best format for fast loading of images due to small image size.
https://img.youtube.com
https://i.ytimg.com
Examples are with https://i.ytimg.com server just because it’s shorter, no other particular reason. You can use both.
Player Background Thumbnail (480x360):
WebP
https://i.ytimg.com/vi_webp/<YouTube_Video_ID_HERE>/0.webp
JPG
https://i.ytimg.com/vi/<YouTube_Video_ID_HERE>/0.jpg
Video frames thumbnails (120x90)
WebP:
Start: https://i.ytimg.com/vi_webp/<YouTube_Video_ID_HERE>/1.webp
Middle: https://i.ytimg.com/vi_webp/<YouTube_Video_ID_HERE>/2.webp
End: https://i.ytimg.com/vi_webp/<YouTube_Video_ID_HERE>/3.webp
JPG:
Start: https://i.ytimg.com/vi/<YouTube_Video_ID_HERE>/1.jpg
Middle: https://i.ytimg.com/vi/<YouTube_Video_ID_HERE>/2.jpg
End: https://i.ytimg.com/vi/<YouTube_Video_ID_HERE>/3.jpg
Lowest quality thumbnail (120x90)
WebP
https://i.ytimg.com/vi_webp/<YouTube_Video_ID_HERE>/default.webp
JPG
https://i.ytimg.com/vi/<YouTube_Video_ID_HERE>/default.jpg
Medium quality thumbnail (320x180)
WebP
https://i.ytimg.com/vi_webp/<YouTube_Video_ID_HERE>/mqdefault.webp
JPG
https://i.ytimg.com/vi/<YouTube_Video_ID_HERE>/mqdefault.jpg
High quality thumbnail (480x360)
WebP
https://i.ytimg.com/vi_webp/<YouTube_Video_ID_HERE>/hqdefault.webp
JPG
https://i.ytimg.com/vi/<YouTube_Video_ID_HERE>/hqdefault.jpg
Standard quality thumbnail (640x480)
WebP
https://i.ytimg.com/vi_webp/<YouTube_Video_ID_HERE>/sddefault.webp
JPG
https://i.ytimg.com/vi/<YouTube_Video_ID_HERE>/sddefault.jpg
Unscaled thumbnail resolution
WebP
https://i.ytimg.com/vi_webp/<YouTube_Video_ID_HERE>/maxresdefault.webp
JPG
https://i.ytimg.com/vi/<YouTube_Video_ID_HERE>/maxresdefault.jpg