Given how many people are clearly recording video at concerts now - see any recent concert on YouTube, and pay attention to how many recording device you see held high - I can't imagine that you'll have trouble with a small point-and-shoot. That said, I've never taken a camera to a concert, so I can't say first-hand that they'll let you take it in.
As an aside, Queen was my first concert. I won tickets and the LP of The Game from the local AM rock station. 14th caller or whatever. I can still envision Freddy with his knee pads on. I was SO lucky. Since then I only saw them live again once, on the last tour with Paul Rodgers. I never thought that I'd see him sing my favourite old Bad Co. songs either. Great stuff.
