My feeling about lyrics and teleprompters is that if I wanted karaoke, I'd go someplace cheaper. For $50-100 bucks or more of my money for a ticket, I think that the least that the performer should do is show up on time and remember the lyrics. And, as far as orchestral musicians are concerned, I need to say that belting out three stanzas and the chorus of "Runnin' with the Devil" is quite a bit different than playing Beethoven's 5th from memory.
Don't get me started on pop tarts (Britney Spears, etc) that lip-synch.
Finally, I had the pleasure of catching the Stones (fantastic Arena show, BTW) a few years ago. Not a teleprompter in sight....no way there were any around because for a significant part of the show, there wasn't a place for them in the set design. So, unless Mick had the lyrics written on the back of his hand....
The Stones have used prompters for years. Their IMAX movie, released in the early 90s, has several shots where the lyrics are rolling by, and, my personal favorite, stage directions. When it was time for Keith to sing "Happy," the prompter read something like "KEITH SINGS MICK OFF STAGE." Hilarious.