Is there ever a need for a "do {...} while ( )" loop?

Yes I agree that do while loops can be rewritten to a while loop, however I disagree that always using a while loop is better. do while always get run at least once and that is a very useful property (most typical example being input checking (from keyboard))

#include <stdio.h>

int main() {
    char c;

    do {
        printf("enter a number");
        scanf("%c", &c);

    } while (c < '0' ||  c > '9'); 
}

This can of course be rewritten to a while loop, but this is usually viewed as a much more elegant solution.

do-while is a loop with a post-condition. You need it in cases when the loop body is to be executed at least once. This is necessary for code which needs some action before the loop condition can be sensibly evaluated. With while loop you would have to call the initialization code from two sites, with do-while you can only call it from one site.

Another example is when you already have a valid object when the first iteration is to be started, so you don't want to execute anything (loop condition evaluation included) before the first iteration starts. An example is with FindFirstFile/FindNextFile Win32 functions: you call FindFirstFile which either returns an error or a search handle to the first file, then you call FindNextFile until it returns an error.

Pseudocode:

Handle handle;
Params params;
if( ( handle = FindFirstFile( params ) ) != Error ) {
   do {
      process( params ); //process found file
   } while( ( handle = FindNextFile( params ) ) != Error ) );
}