The laser in your DVD player might be dying.
A dying laser is one of the most common causes, but in this case
@dustnbones2 already considered that possibility and so purchased another DVD player. So long as that wasn't some old used machine then can you really point at a failing laser?
I think there are two possible scenarios. Either the original recorder and both of the DVD players are just slightly outside the tolerances for compatibility. That. or it's a disc issue.
Given that the disc have played before, then I'd rule out a compatibility issue. The gradual decline suggests a disc issue to me.
DVDR discs use a dye layer to capture and hold the state change initiated by the laser during recording. Being a dye means it's not permanently stable. Each play bombards it with new light. Exposure to daylight does the same. Hell, there might even be some kind of chemical reaction gradually eroding the data pits on a molecular level. Put simply, the written surface is decaying. It's the same kind of thing you might see when a newspaper fades when left on a window sill.
New DVD players and disc cleaning aren't going to fix this.
The task now is to grab the data from the disc before too much is gone that it's totally unreadable. The error correction in a DVD player only goes so far. It can't take several goes at reading a bad few sectors, but a PC DVD can because it has the processing power and the means to buffer the data to build a more complete 'picture' after several goes at reading.
In summary then, the problem is in the disc at a microscopic level which is why you can't see an issue. It won't stop or improve. If the recordings are precious, then make a hard drive back-up NOW. Don't wait. Try the software I listed in the first reply.
Once you have a data file, keep a copy on a hard drive and make a DVD version for everyday playback. Use good quality, branded, blank media. This won't solve the disc degradation problem, but it will mean that the discs should be playable for longer.
No domestic data recording medium is permanent. The best you can do is to backup across a couple or three different platforms.