Recent studies argue that knowledge distillation is promising for speech translation (ST) using end-to-end models. In this work, we investigate the effect of knowledge distillation with a cascade ST using automatic speech recognition (ASR) and machine translation (MT) models. We distill knowledge from a teacher model based on human transcripts to a student model based on erroneous transcriptions. Our experimental results demonstrated that knowledge distillation is beneficial for a cascade ST. Further investigation that combined knowledge distillation and fine-tuning revealed that the combination consistently improved two language pairs: English-Italian and Spanish-English.