This is a small script that provides the necessary ffmpeg commandline to download stuff from DR TV so that they can be watched offline. It still has a lot of rough edges, which honestly I don't know when or if I'll weed out. So far it picks the best possible quality and offers no support for subtitles. Pull requests welcome :)
Make a Python virtualenv, activate it and run pip install -r requirements.txt. Then you can invoke the program like this: python dumpdr.py <link to dr.dk/tv program>, e.g. python dumpdr.py https://www.dr.dk/tv/se/tv-avisen-med-sporten/tv-avisen-med-sporten-og-vejret-2016-09-11.
The program outputs the command to issue in order to actually download the program. Obviously you'll need ffmpeg to dump the video.