MKVMerge, free as well, then lets you extract only the audio tracks from those video files. HandBrake lets you rip DVD-Vs to video files. Other programs I've used and do recommend are MakeMKV for extracting from BluRay (including decryption), which is free for Linux users, and HandBrake, which is free, period. Then again, there's probably Foobar plugins that do the trick for free.

That said, if you're on Windows, you could also use the free DVD-Audio Explorer and, if you want some advanced converting mojo (like merging several files into one, converting from WAV to FLAC while changing bitrates, etc.), use Xrecode II. I asked them for an updated version and all they keep saying is 'yeah we'll make one'. Back in April, it stopped working on Linux and since then, you have to manually install an outdated system package to get it running again. Download, install or update your device driver, and then disconnect and reconnect this device to see whether if I/O is fixed. 40 bucks is a decent deal for a software I keep using all the time. If the computer storage device driver is outdated, damaged or incompatible with your attached device, it might affect its input/output functionality.

Makemkv mac says outdated