dvdbackup has been one of the simplest programs I have used to backup DVDs on Linux distributions.
The following steps will install the dvdbackup RPM based package and compile libdvdcss, to decrypt the DVDs, from source.
Repository Packages Required
sudo yum install dvdbackup
libdvdcss Source Install
If the DVD you are ripping is encrypted, libdvdcss is required so dvdbackup can decrypt and access the media files.
Install the following repository packages:
sudo yum install git autoconf automake libtool
Clone the source code:
git clone http://code.videolan.org/videolan/libdvdcss.git cd libdvdcss
Configure, make, and make install the binary:
autoreconf -i ./configure make sudo make install
Create links to the libdvdcss shared libraries:
sudo -i echo '/usr/local/lib' > /etc/ld.so.conf.d/libdvdcss.conf ldconfig -v
Backup Full DVD
Replace $DEVICE with your DVD drive path (e.g. /dev/dvd, /dev/sr0)
dvdbackup -i $DEVICE -M