I always use Tipard DVD Ripper.
It can remove the protection and convert it to other format legally.
It can easily rip dvd to MP4, H.264, AVI, MP3, WMV, WMA, FLV, MKV, MPEG-1, MPEG-2, 3GP, 3GPP, VOB, DivX, Mov, RM, RMVB, M4A, AAC, WAV, etc.
It also has strong editing functions of trimming, cropping, effecting and snapshot. It can merge your selected chapters into one file.
It provides more settings for you to choose such as sutitle and audio track and the parameters for the converted audio and video.