Nero CD-DVD Speed website
You don't have to have Nero, to use Nero CD/DVDSpeed as a testing tool.
Features:
Write test disc (nothing special, other than it makes a 100% full disc of junk data and can record the write speed profile).
Various methods of testing, including PI/PIF errors for drives that support statistics reporting, or read speed plot for all drives. Most Liteon drives support reporting, some with more detailed options like jitter also available.
Some other drives do as well, though Plextor have their own utility and are a bit sniffy about letting anyone else in on the act. A few other makes have requested that the feature, though possible, be turned off as the results are not reliable.
NB. Certain websites have particular reporting standards, so that plots are comparable, Liteon writer at 4x speed is one often used - Liteon combo drives can report errors on DVD, but the results are generally considered not to be directly comparable as there are variations in measuring interval.