Nope. It's technically not legal to do so, so Quicktime does not natively support it. However you can download Handbrake from macupdate.com, which will allow you to rip entire DVDs or just specific chapters if you like.
It is legal (as far as i can tell) to rip a DVD you own onto you computer "for personal use". However, being able to rip DVDs opens up a whole new door of pirating that Apple would rather not officially support.