The excellent exiftool console application works but there is an issue with the time stamp of the MP4 videos which appear to be interpreted as UTC.
My solution is the following batch file which increments the creation time of the videos by 9 hours (I am living in Japan) before renaming the files.
exiftool "-AllDates+=9" -verbose -overwrite_original *.mp4
exiftool "-filename<CreateDate" -d %%Y%%m%%d_%%H%%M%%S%%%%-c.%%%%le *
Obviously exiftool must be in your path for the script to work.
I run this script on newly imported files then copy them to my Photos directory.