The Netgear DG834 range certainly terminate IPSec tunnels but on the DG834G v.2 I tried it on, the performance was abysmal.
I would expect more recent Netgears should maintain the same sort of capability with a tad more speed.
Relatively cheap TP-Link routers also support IPSec tunnels although I haven't tried them in practice. If I do, which is a possibility, I shall let you know. The TP-Link TD-W8960N supports up to ten IPSec tunnels and costs less than £30. I've been impressed with the wireless performance of the previous version of this router.
Draytek routers certainly do and I run a number of Draytek VDSL2 routers with IPSec tunnels very successfully and with respectable speeds.
Edited by caffn8me (Mon 15-Sep-14 20:18:07)