DVDFab is capable of ripping DVDs and Blu-Rays onto your HDD, as well as converting them. Their HD Decrypter is freeware. In my experience, HD Decrypter will also work on DVDs after the 30-day mark. They have other things built into their solution which you can purchase like Disc Remastering and Video Conversion.
If you don't/won't care about Blu-Rays at all and want to go bare-bones, there's always DVD Shrink and DVD Decrypter. DVDFab is my first choice however. It gets updated more frequently.