Handbrake plus
libdvdcss does well for most DVDs. With default conversion settings, the MP4 files from Handbrake are typically one to two gigabytes per movie.
There are a lot of videos and how-tos for ripping/converting DVDs with Handbrake on the Web, mostly focused on Windows, but I couldn't find one I thought was helpful enough overall to embed here. So, I'll do a very simple how-to and tips rundown.
1. Install the two items listed, linked above.
2. Insert your DVD
3. Launch Handbrake
4. It should prompt to select Source but if it doesn't, click Open Source and select the DVD volume
5. After Handbrake scans the disk, click the Title drop-down menu and select the item with the longest time or the item with the time closest to the movie's listed runtime.
<> The default preset of Fast 1080p is fine -- DVDs are only natively SD quality anyway.
<> However, there are a couple of things that I suggest checking
Noted here... (Scroll down to "Multiple Audio Tracks")
Handbrake is a great app. I've learned a few things after ripping hundreds of my DVDs you might want to know.
www.zdnet.com
As shown in the screenshot (in the article), you can go the Audio tab and add any/all of the audio tracks, some are different languages, some are different types (2.1, 5.1, etc), some are commentary, and so on. by clicking on the "None" and selecting them. The same goes for Subtitles. Handbrake only selects what it believes is the main track.