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
yum install dvdbackup
libdvdcss Source Install
libdvdcss is required to break the DVD encryption so dvdbackup can access the media files.
Clone the source code:
git clone git://git.videolan.org/libdvdcss cd libdvdcss
Configure, make, and make install the binary:
./configure make sudo make install
Create links to the shared libraries:
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