sudo apt-get install icedax
sudo apt-get install vorbis-tools
cdda2wav -D /dev/cdrom -t numberwhere number is track number. The command above will create audio.wav file in current working directory.
oggenc -q quality -t "Title" -a "Artist Name" -l "Album Name" "audio.wav"where
sudo apt-get install mpg321
mpg321 -w filename.wav filename.mp3
More simple method of ripping CDs offers default in Ubuntu Rhythmbox music player. After inserting CD into the drive it gets from the web Artist name, Album name and songs' titles. Entire album can be ripped by pressing button Rip (polish: Zgraj). It creates ripped songs in My Music/Artist Name/Album Name folder. Here is the screenshot with highlighted Rip button: