Lots of choices out there and they're all pretty good for their own reasons. There's DVDShrink, like David said, but I prefer DVDDecryptor myself.
DVDShrink is good because it can remove subtitles, different audio types, and movie types, and can also do compression leaving you with just what you really watch, the movie.
The reason I prefer DVDDecrypter is because it's easy to write up a quick and dirty script file to rip in ISO mode and copy the entire DVD to disk. In order to use DVDShrink you have to fiddle and play, and then wait for it to re-author. I admit that I do go back and use DVDShrink at a later time to get the files smaller, but initially I prefer the hands off approach.
If you're looking to use this on a HTPC another option for integration with a front end is the Gotcha Covered Video suite and Meedio. It's not out yet but according to the guy who's writing it it will rip a dvd, get the cover art, get the movie info, and will support burning as well. It will cost "around $10 or cheaper if bundled with the Audio Suite."