First, one has $$e^{ir}-1=O(|r|) $$ for all $r\in \mathbb{R}.$ This means that there exist constant (independent of $r$) $A>0$ such that $$|e^{ir}-1|\le A|r| \mbox{ for all } r\in \mathbb{R} $$ (In fact, you can take $A=1$, as $|e^{ir}-1|$ is the length of the chord from 1 to $e^{ir}$ and $r$ is the corresponding arc length on the unit circle.)
Let us prove your question in the case $X $ is contiuous. (The discrete case can be proved similarly.) Suppose $f(x)$ is the probability density function of $X$. Then
$$ \phi(t)=E(e^{itX})=\int_{-\infty}^\infty f(x)e^{itx} dx$$ and $\phi(0)=\int_{-\infty}^\infty f(x) dx =1$. So by linearity of integral
$$\phi'(0)=\lim_{t\to 0}\frac{\phi(t)-\phi(0)}{t}=\lim_{t\to 0}\int_{-\infty}^\infty f(x)\frac{e^{itx}-1}{t} dx.$$ Since
$$\left|f(x)\frac{e^{itx}-1}{t}\right|\le f(x) A \frac{|tx|}{|t|}=A f(x)|x|,$$ and $$\lim_{t\to 0}\frac{e^{itx}-1}{t}=\frac{d}{dt} e^{itx}|_{t=0}=ix e^0=ix,$$
it follows from DCT that if $E(|X|)<\infty$, then $$\phi'(0)= \int_{-\infty}^\infty f(x)ix dx=i E(X).$$