Take this suggestion with a spadeful of salt, since I don't have a DVD-VR recorder. I assume you want the video on a computer so you can edit it, right?
The file suffix is probably ".VRO". It's standard MPEG-2 data inside, so simply copy it to your PC, and rename it to ".MPG" You should be able to mess with it then.
Some recorders don't play nicely when writing files in real time, so if the file generally works on your computer but there are glitches, try running it through something like VideoReDo.
And if I'm talking nonsense, ignore me.