There are tons out there.
As some have mentioned, there are:
- TCPDF
- FPDF
- Zend_Pdf
- DOMPDF - CSS 2.1 compliant
- WKHtmlToPdf
- HTML2PDF
And there's a ton more out there if you look...
If you include commercial, I've heard good things about Prince...
Personally, I've had great luck with DomPDF... TCPDF tended to be VERY buggy, but had a VERY active developer (which turned out to be a mixed blessing since the releases often broke the API), but then again this was years ago, so it could have changed. My experience with FPDF was that it was very buggy as well, with little to no support. But again, that was several years ago as well and it could have changed since then.