You could try behavioral therapy. Kennedy Krieger does this in Baltimore and at there Columbia, MD clinic:
http://www.kennedykrieger.org/patient-care/patient-care-programs/outpatient-programs/behavior-management-clinic
There are other practitioners closer to DC.
Does he have a current IEP for school? If he doesn't, I would go through the steps to get this in place for appropriate accommodations. Depending on the school, and what they will allow, some kids do well sitting on a wiggle seat or standing at their desk.
If you're not working with an OT, I would consider doing so to help channel energies. One OT we worked with used the metaphor, "How is your engine running?" High, low, just right--to help the child learn to recognize how to self regulate.
The one thing I would consider though is how he does at school. If he's not able to focus or regulate in the classroom, he can't learn, so meds might be necessary.