I don't have any of the really small kid DVD's, just the Ice Age type ones and they let me skip through it.
What I normally do is put the DVD in the recorder about five or ten minutes before I want to begin a movie and then get to clearing dishes off the table, or gathering snacks or getting the kids ready for bed or whatever. Then when I am ready to watch the movie everything has already gone through the nonsense. I do this with the tv off too which is another bonus. I really wish after you go through them once you could skip them easier but that does not seem to be the case.