Open Automator.
Choose the Print Plugin template.
Click on "PDFs" in the left-most pane.
Drag the "Render PDF Pages as Images" from the middle pane to the right pane.
Set the color model, resolution, and compression values to something nice, and choose "TIFF image" as the format.
Click on "Files and Folders" on the left, then drag "Rename Finder Items" to the right under "Render PDF Pages as Images".
Answer "No" to the question about adding a copy step.
Change the settings to "Make Sequential" and specify a new name.
Click on "Files and Folders" on the left, then drag "Copy Finder Items" to the right under "Render PDF Pages as Images", and designate where the files go
Save the workflow as "Print to TIFF"
Now, when you print, go to the PDF menu in the corner of the print dialog, and you will find a new item in the drop-down list: "Print to TIFF". If you select that, it will create TIFF images in the designated folder.... If you want, you can fiddle around with the basic workflow and do other things too (add dates to the filenames, apply image filters, etc.)
The workflow is stored in ~/Library/PDF Services