I prefer to use CloneDVD and AnyDVD from SlySoft.

You may remove DVD copy-protection (CSS), shrink DVD-9 (dual layer) to DVD-5 (single layer), remove unwanted movie features, remove prohibited operations from DVD, make DVD region-free, reduce the noise level of your DVD drive by controlling its speed and much, much more.

This bundle really offers unmatched set of features! Both programs have free trial versions so you may check it out yourself!

p.s. Previously I used freeware DVD Decrypter (that is no longer available due to some legal problems all DVD ripping sofware developers face now) and Nero 7 Ultra. I still prefer to use Nero for many tasks from burning CD and DVD discs to converting DVD video to MPEG4 AVC.