Personally, 5x5 is my staple and default programme, if I could do no other routine it's what I'd choose - but then I train mostly for strength and power - I'm not too worried about mass and definition.
 
However, I mix things up a lot. I tend to change the isolations session on session, so my tricep / bicep work is rarely the same 2 weeks running.
 
Currently I'm deloading and repping up, so I do my main compound per bodypart on 5x5 Heavy, then after that rep up to 15's or 16's for everything else. I'm doing this for one month simply to shock the system a bit. I'm finishing with 20-30 mins cardio (usually go for a run outside or if the weather is filthy exercise bike or cross trainer).
 
I'll go back onto my staple 5x5 till late spring, at which point I'll deload again and start doing stacks of cardio. I do this, not to lose weight for vest season (I never vest up), but because in the summer I love to ride my bike and every Sunday crank out 80-100 miles and I like to get the fitness up a bit.
 
Then I drop back to 5x5 heavy till about mid November where I switch to a full body heavy as hell and go for all my personal best lifts - this year I smashed my squat and deadlift PB's in December. It works well in the eating and drinking season!!

Reps for biceps / triceps are up to you - I tend to stick to 3x8 ish.
 
Dips wise I prefer wide grip, leaning forward, chin tucked

I would suggest swapping cable rows for barbell rows, or even better Pendlay rows,

PUll ups - a classic. You've just gotta stick at it, but there are ways to improve and help yourself.
 
Firstly, there's greasing the groove! Get a pull up bar, or anywhere you can do pull ups, somewhere handy - work or home - everytime you walk by do one or two, or more if you want. I use a tree branch in my garden, I just jump up and belt out a few on a regular basis.
 
Secondly there's loads of technique stuff. If you hang wide arm grip, straight arms (like aq dead hang), and shrug - this engages the lats/traps and is actually the first part of the movement. Once you get used to bringing the back in as the main working muscle group they'll get easier.
 
Also try frenchies (google it, you see climbers doing them), negatives and partials.
Don't be affraid to finish sets off with good old fashined chin ups - these are a bit more bicep focussed but it all goes in the bank.
 
Finally, google rack chins. These are brilliant in their own right because you can't cheat the movement. I rotate them into my programme over the course of the year and they are brilliant at both inproving your pull up and as a back exercise in their own right. (you get some right strange looks at the gym though!!)

More good advice from Bollard.
 
Another tip if you are struggling with pull ups.
 
Do jump pull ups - By that I mean jump up a little to help you get momentum to get to the top of the pull up then come down very slowly, your muscles will tire first pulling up rather than letting yourself down. Doing this will allow your muscles to get used to the load of pull ups and before long you will be able to do more proper pullu ps.
 
Pull ups are hard (this is why you don't see many people doing them in the gym) but they are very cool and a great exercise, keep at them, you'll be glad you did.