To make a local copy of an S3 bucket, I use the s3cmd command line tool.

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Configure access keys:

s3cmd --configure

Make a local directory for the backup:

mkdir s3backup
cd s3backup

Get a preview of what we're going to copy:

s3cmd sync --dry-run s3://your-bucket-name-here .

Start copying files:

s3cmd sync s3://your-bucket-name-here .