Beef Barley has mentioned most of the good decryption/ripping options, but there is one more, called AnyDVD. It is not free, but is constantly updated to handle new protections as they appear. AnyDVD works in the background and you can use its built-in ripper or a free ripping program with it, like DVDDecrypter or DVDShrink.
I like AnyDVD for its convenience, the lifetime updates and its effectiveness. But there is no reason not to get RipIt4Me and DVDFab HD Decrypter as alternative decryption programs since they are free to use.
You should also look into a program called DVDRebuilder. It cannot decrypt dvds, but once they are decrypted you can use this program to make high quality backups. The results are better than can be made using transcoders like Shrink or Nero Recode, especially on large dvds. There is a free version, with fewer options, but it works well using the HC encoder that is included with the program.