Here's the preamble and the first three verses of Friedrich von Schiller's "Ode to Joy", as used in Beethoven's 9th Symphony. I found this in a 1947 volume called "The Concert Companion", and Natalie Macfarren is credited with the translation. This isn't the entire choral text, but these stanzas are repeated throughout the fourth movement (wholely or in part). I've always liked this version, as it makes an effort to maintain rhyme and meter, frequently missing from more literal translations. I think Schiller's spirit is better served that way:
Oh friends, no more these sounds continue!
Let us raise a song of sympathy, of gladness.
O joy, let us praise thee!
Praise to Joy, the God-descended
Daughter of Elysium!
Ray of mirth and rapture blended,
Goddess, to thy shrine we come.
By thy magic is united
What stern Custom parted wide.
All mankind are brothers plighted
Where thy gentle wings abide.
Ye to whom the boon is measured,
Friend to be of faithful friend,
Who a wife has won and treasured,
To our strain your voices lend!
Yea, if any hold in keeping
Only one heart all his own,
Let him join us, or else weeping,
Steal from out our midst unknown.
Draughts of joy, from cup o'erflowning,
Bounteous Nature freely gives
Grace to just and unjust showing,
Blessing everything that lives.
Wine she gave to us and kisses,
Loyal friend on life's steep road,
E'en the worm can feel life's blisses,
And the Seraph dwells with God.