In my opinion, the best way to generally prevent SQL injection in your PHP appapplication (or any web appapplication, for that matter) is to think about your application's architecture. If the only way to protect against SQL injection is to remember to use a special method or function that does The Right Thing every time you talk to the database, you are doing it wrong. That way, it's just a matter of time until you forget to correctly format your query at some point in your code.
Adopting the MVC pattern and a framework like CakePHP or CodeIgniter is probably the right way to go: Common tasks like creating secure database queries have been solved and centrally implemented in such frameworks. They help you to organize your web appapplication in a sensible way and make you think more about loading and saving objects than about securely constructing single SQL queries.