dvd:rip is a full featured DVD copy program A front end for transcode and ffmpeg. It provides an easy to use but feature-rich Gtk+ GUI to control almost all aspects of the ripping and transcoding process.
AcidRip is an automated front end for MPlayer/Mencoder (ripping and encoding DVD tool using mplayer and mencoder) written in Perl, using Gtk2::Perl for a graphical interface. Makes encoding a DVD just one button click!
K9copy is a KDE DVD Backup tool. It allows the copy of a DVD9 to a DVD5. It is also known as a Linux DVD shrink. It supports the following features: The video stream is compressed to make the video fiton a 4.7GB recordable DVD. DVD Burning. Creation of ISO images.
Brasero is a good option and available in the software centre
Also K3b is the one I use also available in the software centre (its more Nero-like)