dvdbackup
The latest release of this is from 2012. You can still build it from source, but it will break with modern libdvdread. Use your package manager to install it (if it has it), as this will be patched to work properly. Alternatively, use dvd_backup from my dvd_info software packages.
This is what I use to backup ALL my DVDs. I like it a lot.
dvdbackup -M -p -i /dev/sr0 -n DVD_TITLE
dvdbackup will do a binary sort on the cell sectors when copying them. This can lead to copies that are not bit-exact or possibly have chapters that are out of order on one track (see dvdbackup.c bsort_min_to_max function). I'm guessing it's designed to make reads more efficient so it's not skipping back and forth.
I'm not sure if this is a real problem or not, I found it on one DVD that's fussy to rip anyway (DSNYR, track 3064), and I'd have to query a lot to see if it's common, and even more to see if it's problematic.
