I personally like DVDFab, its a paid program but the dvd rip portion of it is free with no limits. (unless that has changed recently I see they have a new version out) it used to be a stand alone program but now its just part of there suite and kinda hidden as its not called “rip dvd” but rather DVD to DVD and what that means is it keeps the original DVD structure/files but it actually rips it to your HDD (or directly to another DVD but that feature would be part of the paid program, while to the HDD is free)
DVD Decrypt was great when it was supported but its ages old now and will fail to remove several of the newer copy protections. Any DVD was stacked with it to get around that issue but I found DVD Fab to not only never fail to rip a DVD and its protection but it was the only one that let me do simple things like rip only the main movie and only the audio tracks or subtitles I wanted.
This saves considerable time ripping and hard disk space.