Are there any non-subscription DVRs/PVRs for people who watch TV with an antenna?

Well one way to go would be to set up a Media Center PC, but this can be expensive and a bit of a headache. I recommend you just get a DVD recorder. A hybrid between a DVR and a DVD recorder though is the Philips DVDR3576H/37 DVD Recorder which comes with a 160GB hard drive. This is an older model, but has gotten good reviews and Overstock currently has refurbished units for $200. The hard drive can store up to 200 hours of video, and of course you can always just burn movies or shows to a DVD for long term storage. It can also handle DivX, MP3s, WMA or JPEGs files. The DVDR3576H comes with an RF antenna cable. Follow the link to the reviews for more information. Thank you for using IMshopping.

With the EchoStar DTV PAL 50 you can record regular channels picked up with an antenna! You can get it at Sears costing $299 and I don't see anything cheaper and other DVR's will cost you close to $1000 so this is a steal!
Record, fast forward, and rewind live tv without a subscription!
Product highlights include:

• Receive and record local digital broadcasts in either HD or SD format
• Record up to 130 hours of SD content or up to 30 hours of HD content
• Works with both HD TVs and older analog TVs
• Multi-day Electronic Program Guide
• Dual-tuners allow you to record two programs at once or watch one program while recording another
• Pause live TV; skip forward; skip back; slow motion; frame-by-frame advance; four speeds for rewind and fast-forward
• Upgrade software via USB for future product enhancements
• Installation Wizard for easy set-up and configuration