If you use Java, you can use Jena, which offers two storage backends.
First, there is SDB, which is based on a backing RDBMS like MySQL, Postgres, etc.
The second alternative is TDB, which is a native, disk-based storage system (although not 1.x yet).
I've worked with RDB, the predecessor of SDB, and I've tested SDB, too. With the provided documentation, they are easy to use, and if there are any questions, there is a quite active community at the jena-dev group.
If you don't want to access the stores programmatical, the can also be used as backing storage for the Joseki SPARQL server, to offer a SPARQL endpoint.