Red Dwarf: Infinity Welcomes Careful Drivers by Grant Naylor
Definitely worthy to carry the Red Dwarf name. While it does mainly follow the plot of the first season, there's quite a bit more added such as how Lister wound up on the titular Red Dwarf mining ship. It's also quite a bit darker than the show, going a little more into detail of Lister's mental state after he finds out he's the last man alive.
If you're a fan of the show, I would highly recommend picking up the books.