Try Doctrine2. It's probably the most powerful ORM tool for PHP. I'm mentioning it separately from Doctrine 1, because it's a completely different piece of software. It's been rewritten from scratch, is still in beta phase, but it's usable now and developed.
It's a very complex ORM, but well designed. Lot of magic from original Doctrine 1 disappeared. It provides a complete solution, and you can write your own ORM on top of Doctrine2 or use just one of its layers.
