Most Red Dwarf sites have an episode guide of some form. For that reason I won't be attempting anything groundbreaking here, and will only be giving short summaries for each episode.
For further episode information, I recommend the Black Box & Time Hole sections of the official site, and the episode capsules on Ganymede & Titan.
The End - Lister emerges from stasis after three million years to discover that the crew are dead.
Future Echoes - When Red Dwarf breaks the speed of light the lads see visions from their future.
Balance of Power - Lister sits the Chef's exam to become Rimmer's superior.
Waiting for God - Lister discovers he is a God while Rimmer investigates an unidentified object.
Confidence and Paranoia - Lister personifies his confidence and paranoia.
Me2 - Rimmer has duplicated himself and the two don't get along.
Kryten - The lads respond to a distress call from a crashed vessel.
Better Than Life - Lister receives a Total Immersion Video game in the post pod.
Thanks For The Memory - Lister and Cat awake with broken legs, four days missing and a completed jigsaw-puzzle. Rimmer believes that it's aliens.
Stasis Leak - A magic door allows the gang to return to three weeks before the radiation leak wiped out the crew.
Queeg – Red Dwarf's back-up computer replaces Holly. Holly fights back.
Parallel Universe - The lads meet themselves in another universe - a universe where they are female.
Backwards - The lads return to Earth where time is running backwards.
Marooned - Rimmer and Lister get marooned on an ice-planet.
Polymorph - A shapeshifter boards Red Dwarf and feeds off the gang's emotions.
Bodyswap - Rimmer and Lister swap bodies to get Lister healthier.
Timeslides - Kryten discovers that some developing fluid has mutated, enabling the gang to enter photographs and therefore travel back in time.
The Last Day - A new Divadroid Int. model is dispatched to replace Kryten.
Camille - Kryten falls in love with a huge green blob.
DNA - Kryten is turned into a human.
Justice - Rimmer is found guilty of second-degree murder on 1,167 counts.
White Hole - A white-hole is spewing out time and Holly doesn't have long to live.
Dimension Jump - Test-pilot Ace Rimmer boards Red Dwarf. What a guy!
Meltdown - Rimmer commands a war on a planet made up of wax-droids.
Holoship - Rimmer joins the crew on a ship composed entirely of light.
The Inquisitor - Lister and Kryten are deemed worthless so are erased from history.
Terrorform - Rimmer is held captive on a planet made up by his own imagination.
Quarantine - Rimmer contracts a holovirus and forces the others into quarantine.
Demons & Angels - Tragedy strikes when Red Dwarf explodes.
Back to Reality - The gang awake from the TIV game Red Dwarf, which they have been playing for the last four years.
Psirens - Red Dwarf is lost and Starbug gets attacked by Psirens.
Legion - The gang enter a deserted space station for supplies.
Gunmen of the Apocalypse - Kryten contracts a deadly computer virus and the others enter his mind to help him fight it.
Emohawk - Polymorph II – An Emohawk is sent to get revenge on Lister for ditching his GELF bride on their wedding night.
Rimmerworld - Rimmer uses the escape pod and finds himself alone on a planet for 600 years.
Out Of Time - The crew are visited by their future selves, who decide to attack.
Tikka To Ride - Lister pushes a gunmen out of a 5th floor window in Dallas 1963.
Stoke Me A Clipper - Rimmer enters training to become the next Ace.
Ouroboros - Kochanski crosses over realities and then can't get back.
Duct Soup - The gang spend their night in the service ducts.
Blue - Lister *really* misses Rimmer's company.
Beyond a Joke - Kryten gets so annoyed that he blows his top.
Epideme - Lister tries to persuade a deadly virus not to kill him by talking to it.
Nanarchy - The gang find out who stole Red Dwarf and why.
Back In The Red - Part 1, 2 & 3 - Nanobots rebuild Red Dwarf and resurrect the crew. The gang now face two years in the brig for crimes against the Space Corps.
Cassandra - Lister signs himself and the others up to the Canaries - a convict army trained to go on suicide missions.
Krytie TV - Kryten starts his own pirate television station to entertain the prisoners.
Pete - Part 1 & 2 - A sparrow known as Pete is de-evolved into a T-Rex.
Only The Good... - Rimmer crosses into a mirror universe to find the antidote to a virus eating away at Red Dwarf.
Smeg Ups - Outtakes from Series IV-VI.
Smeg Outs - Outtakes from Series I-III.
Tongue Tied - A promotional music video to Danny John-Jules' hit single.
Red Dwarf: RND Promo - The lads do a little dance for Red Nose Day 1991.
Red Dwarf: Bohemian Rhapsody - The crew mime to the Queen hit for Comic Relief 1993.
Red Dwarf: USA - Pilots 1 & 2 - Two American pilots of Red Dwarf that never made it.
Red Dwarf: Six of the Best - Six episodes (one from each of the first six series) chosen by Rob Grant, Doug Naylor and Ed Bye and then discussed for a bonus CD.
Can't Smeg Won't Smeg - Can't Cook Won't Cook Red Dwarf style.
Red Dwarf Night: Smeg Ups - A 30 minute compilation of Smeg Ups & Outs with brand new links.
Universe Challenge - The cast compete against fans for Dwarfdom.
Red Dwarf: A-Z - Clips, talking-heads and previously unseen footage.
Red Dwarf VII: Xtended - Director's cuts of Tikka To Ride, Ouroboros & Duct Soup. Also includes outtakes from Series VII and the full length Rimmer Munchkin Song.
Red Dwarf: ReMastered - Series I, II & III with new model sequences, new footage, new effects, digitally remastered sound, digitally enhanced pictures and brand new wooshy noises.
Red Dwarf: CIN - The series VIII posse appear in the best ever Children in Need sketch.
BBC Comedy advert - A montage of clips of BBC Comedy characters telling different pieces of a 'story'. Rimmer & Lister from Series VIII contribute.
Red Dwarf VIII: Smeg Outs - Byte 1 & 2 - Outtakes from Series VIII.
Red Dwarf: The Phantom Moonace - The trailer to Series VIII.
I've only listed the documentaries here because the majority of material used in them is new. (The episodes are the same, but with additional audio tracks for the cast commentaries, and the featurettes are previously seen extracts cut to non-Dwarf pieces of music.)
I'm not knocking the extras at all - I love the DVDs, but I didn't want to go into great depth with this episode guide, as most of the information is readily available elsewhere.
Series I
Launching Red Dwarf - Covers the early days of Red Dwarf,
from writing through to the first reviews.
Series II
The A-Z is the documentary on offer here, but Doug Naylor's interview
is far more insightful.
Series III
All Change - An episode-by-episode documentary charting in-depth
the making of Red Dwarf III.
Building a Better Universe - A tribute to the late Mel Bibby, Red
Dwarf's genius production designer.
Series IV
Built to Last - An episode-by-episode documentary charting in-depth
the making of Red Dwarf IV.
Series V
Heavy Science - A 75-minute look at the making of Red Dwarf V,
featuring interviews with cast & crew plus never before seen footage from
the set.