ddrescue

Debian package: gddresuce

Command:

/sbin/ddrescue /dev/dvd file.iso

# insert a blank dvd

growisofs -dvd-compat -Z /dev/dvd=file.iso
  

dd

Command:
dd if=/dev/dvd of=DVD.iso bs=2048
# often fails with a read/write error
  

dvdbackup

Command:
# list the titles on the dvd
dvdbackup -i /dev/dvd -I

# copy to disk
dvdbackup -i /dev/dvd -M -o dir
# this fails for me
  

Debian

Debian repo (/etc/apt/sources.list)
deb http://www.debian-multimedia.org testing main
  
The get the key
gpg --export 07DC563D1F41B907   # or the key apt is complaning about
gpg --export 07DC563D1F41B907 | apt-key add -
  

References

debian help
Debian
Howto backup a DVD
DVD ripping