HandBrake is a multithreaded video transcoder, This will allow us to rip DVD to MP4, MKV, AVI or OGM. It is open source and is under the GPL. To use this program only need the DVD VIDEO_TS folder with the files or a DVD image to pass to the other formats are MP4 and MKV, MPEG-4, H.264, AAC audio or Theora, MP3, Vorbis or AC-3 and DTS.
Download Deb file for ubuntu/Debian Here 32Bit 64Bit
Now double click on deb file and install with gdebi or
Open a terminal and type
$sudo dpkg -i HandBrake-0.9.4-Ubuntu_GUI_i686.deb