There's a reason why games based on Dungeons & Dragons rulesets are few compared to the more typical action-based RPGs. Translating D&D rules into the video game medium can result in a slow and traditional gameplay. That's why games like Baldur's Gate which have managed to thrive despite the mechanics' limitations are precious achievements in the video game industry.
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That's also why Baldur's Gate is also getting a belated third sequel, because it's a significant contribution to both RPGs and D&D in general. By the looks of it, Baldur's Gate 3 still has a long way to go so if anyone's itching for games that use D&D rulesets or at least derive their own mechanics off it, then these games ought to prepare any player for some faithful D&D in video game form.
10 Pathfinder: Kingmaker - Based on D&D 3.5E
Pathfinder, with its latest game title, Pathfinder: Kingmaker is a strong entry to D&D-based video games. The crowd-funded game back in 2018 made quite a splash-- enough to warrant a sequel, Pathfinder: Wrath of the Righteous.
Kingmaker is based on D&D's 3.5E ruleset which is quite a close experience to the latest 5th edition. Apart from the usual adventuring, Kingmaker, true to its name, also gives players a kingdom to manage while they're out on adventures. Don't expect anything groundbreaking in terms of story, however, the plot is standard though interesting enough to keep players hooked.
9 Neverwinter Nights Series - Based on D&D 3E & 3.5E
For the closest experience one can have that's comparable to Baldur's Gate, look no further than Neverwinter Nights. Like the first two Baldur's Gate games, it was developed by BioWare before they moved on to their own Dragon Age franchise.
The first game is based on the 3rd edition ruleset while the second one is 3.5E. Both games also made quite a significant leap from Baldur's Gate as they featured 3D graphics. Lore-wise, the series introduces a canon storyline for D&D lore regarding the city of Neverwinter and is thus, a grand adventure worth seeing unfold.
8 Star Wars: Knights of the Old Republic Series - Modified D&D 3E
From BioWare again comes the most comprehensive Star Wars RPG to date, Knights of the Old Republic. It's an old and flawed gem that uses a heavily modified version of the 3rd edition ruleset in order to fit the gameplay better.
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In terms of story, it's also one of the most dramatic ones in Star Wars and is significant enough to find its own spot in the franchise canon. Players step in the boots of a seemingly random Jedi prospect only to find out just how special they are later on.
7 Pillars of Eternity Series - Appears to be based on D&D 4E
Now, the Pillars of Eternity games aren't explicitly based on any D&D ruleset but by the looks of it, it uses a certain percentage of the 4th edition rules. The first game is closer to D&D than the second but both are worth any CRPG player's time.
Pillars of Eternity follows the tale of the Watcher who was inadvertently given the power to see and manipulate souls. Players will then have to guide the Watcher's actions in order to resolve a plague that's connected to the gods. Meanwhile, the second game is a more politically complex narrative where players have to chase a rogue god as they rampage through the Deadfire archipelago.
6 Tyranny - Highly similar to Pillars of Eternity
Tyranny is also from the makers of Pillars of Eternity. Anyone who has played those games ought to be familiar with the mechanics and it's not too far off from the later editions of D&D.
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Where Tyranny sets itself apart is in the plot. Whereas most CRPGs or even other RPGs lays out a heroic progression for the players, Tyranny lets players start out as a villain. From there, they can choose to continue their wicked path or correct it. Don't expect it to be as lengthy or as branching as other CRPGs; it's a relatively new intellectual property.
5 Planescape: Torment - Modified version of D&D 2.5E
Speaking of unconventional stories for protagonists, Planescape: Torment takes the cake. It toys and subverts the idea of the protagonist having amnesia and makes it so that their past life is fraught with evil deeds that they must now correct.
As for the D&D ruleset, it appears to be an excessively tampered version of the 2.5E rules. "Rules," would be an overstatement as the protagonist often disregards them with how absurd and eccentric the skills are in the game.
4 Icewind Dale Series - An amalgam of D&D 1st, 2nd, & 3rd editions
Think of Icewind Dale as the more action-packed and impulsive cousin of Baldur's Gate. It has a heavier focus on gameplay and combat rather than the story but by no means is it any less D&D compared to its contemporaries.
Many longtime D&D tabletop players will probably notice that the Icewind Dale games use their own rules. It's apparently a combination of 1E, 2E, and a dash of 3E for the later versions. In any case, it's a proper D&D game and even features Forgotten Realms locales and lore.
3 Dungeons & Dragons Online - Loosely based on D&D 3.5E
Dungeons & Dragons Online is Wizards of the Coast's foray into the MMORPG market and it sadly has seen better days. The graphics are outdated and the population is nowhere near as busy though that could be said of most MMORPGs today.
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Originally, the game is based on the 3.5 edition of D&D but due to its MMORPG nature, the developers had to make adjustments to cater to the MMO crowd. Still, it's a decent online game that lets players experience a fully-realized 3D Forgotten Realms. It's still available to anyone willing to try it out though don't expect it to be populated.
2 The Temple of Elemental Evil - Based on D&D 3.5E
The Temple of Elemental Evil is one of the lesser-known CRPGs that took on the intricate 3.5 edition of D&D. It does take place not in the Forgotten Realms, but somewhere similar in scope and theme.
The game puts players into the shoes of adventurers who must answer a clueless village's call for aid after strange and violent occurrences started happening in their community. It's up to the players to find out the source of the distress through turn-based combat.
1 Solasta: Crown of the Magister - Based on D&D 5E
Currently, Solasta: Crown of the Magister is one of the latest D&D-focused games. Like the upcoming Baldur's Gate 3, it's also based on the 5th edition of the D&D ruleset, making it the most updated title among D&D CRPGs.
It does have its weaknesses, however, such as the lackluster story and rather rushed characterization. Still, the game more than makes up for it with its impressive adherence to the 5th edition ruleset, something no other game has done yet.