I haven't seen anyone mention
DVD Audio Ripper
From their site... "DVD Audio Ripper is a software DVD movie soundtrack ripper which can rip DVD audio to mp3 or wav.
You can use DVD Audio Ripper to extract DVD audio and rip DVD movie soundtrack to mp3 and convert DVD to wav with complete sound effects."
I used it a while back to rip the audio off the Cure's concert DVD "Trilogy" & it sounds excellent on my 'Pod.