If it is a "normal" DVD, then it is not HD at all. All normal DVD discs are standard definition by design, the files will be vobs.
If it is an AVC-HD DVD disc, playable only with a Blueray player, then the files will be HD quality.
As for "Capture", that is the incorrect method/terminology.
To grab the files put the disc in the drive, browse to it, and copy the files to your hard drive.
If it is only a data disc, with no menu, holding only the actual files as data, then the files might be HD.
HP Envy Phoenix/4thGen i7-4770(4@3.4GHz~turbo>3.9)
Nvidia GTX 960(4GB)/16GB DDR3/
Canon Vixia HV30/HF-M40/HF-M41/HF-G20/Olympus E-PL5.
Tape capture using 6 VCR, TBC-1000, Elite BVP4+, Sony D8 camcorder with TBC.
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