In the tools remaining on PowerPC and therefore incompatible with Lion, there is the very good MacTheRipper. Mac The Ripper can rip a DVD fast on the hard drive, keeping its structure, without compressing it, thus keeping menus, bonus, etc..
A little problem is that the most common version, the 2.66, is only on PowerPC. Fortunately, there is a solution: a « 3.0 R14 » development version exists, that is compatible with Intel (and Lion). I invite you to dowload it here.
Mac OS X