DVDDecrypter can show most of this. It is free to download and use, but is ineffective as a decryption program for many newer movies. You could use DVDFab Passkey in the background for those (Passkey is free while still in beta).
Decrypter will start with the main movie PGC. You can examine chapters in that PGC, and if you click the Stream Processing tab, you’ll see all the video, audio and subtitle streams included. To see chapter length in time, hover your cursor over each one.
DVDFab should also be able to do this. Click on Customize after the dvd has been analyzed. DVDFab is not a free program however.