You can use DVD Audio Extractor to get the audio from DVD Video discs, not much use unless the disc has an LPCM audio option (usually 16bit/48kHz) otherwise you have to convert what's already a lossy AC3 file for iPod use, although you've said quality isn't an issue.
When quality is an issue, you can use DVD Audio Extractor with those DVD discs that come with some CD's. Quite often these will include a 24bit/48kHz LPCM audio option, e.g. Depeche Mode Collectors Editions. Not much use for your iPod, but these rips can be converted to 24/48 FLAC, play them back through a good DAC and they'll sound great. If you've got any DVD-Audio discs, try DVDA Explorer to rip the MLP layer (usually 24bit/96kHz). Use the software so you can get hi-res stereo playback through a PC/DAC, using the original discs for when 5.1 playback is required.