lsdvd is a simple application that reads the dvd content and prints the information into the terminal. Among other useful information lsdvd gives you:

• Name of the disc.
• Number of tracks.
• Length, format, aspect of each track.
• Format, language, number of channels, contents etc… of each audio track.
• Language and contents of each subtitle.

If you want to get a summary information with given tracks number type in lsdvd -t 3 -a -s

Or if you want to get all information by tracks (can be very long), type in lsdvd -x, for all available options type in lsdvd -h.

You can download this tool from the authors website:
http://untrepid.com/acidrip/lsdvd.html