Well, normally cdrdao should work for ripping but you can also try this one:
markus@fujibox:~$ apt-cache show cdda2wav
Package: cdda2wav
Priority: optional
Section: sound
Installed-Size: 328
Maintainer: Joerg Jaspert <[email protected]>
Architecture: i386
Source: cdrtools
Version: 4:2.01+01a01-2
Depends: libc6 (>= 2.3.2.ds1-4)
Suggests: vorbis-tools, cdrtools-doc
Conflicts: xcdroast (<< 0.98+0alpha11)
Filename: pool/main/c/cdrtools/cdda2wav_2.01+01a01-2_i386.deb
Size: 157636
MD5sum: fd2ebe9ef7d850dd336797eaebe8de2a
Description: Creates WAV files from audio CDs
cdda2wav lets you digitally copy audio tracks from a CD-ROM, avoiding
the distortion that is introduced when recording via a sound card. Data
can be dumped into raw (cdr), wav or sun format sound files. Options control
the recording format (stereo/mono; 8/16 bits; sampling rate, etc).
.
Please install cdrtools-doc if you want most of the documentation and
Readme-files.

For some examples have a look at: http://www.jeepster.org.uk/bits/cliburn.html