Re-ranking models of parse trees have been focused on re-ordering parse trees with a syntactic view. However, also a semantic view should be considered in re-ranking parse trees, because the fact that a word pair has a dependency implies that the pair has both syntactic and semantic relations. This paper proposes a re-ranking model for dependency parsing based on a combination of syntactic and semantic plausibilities of dependencies. The syntactic probability is used as a syntactic plausibility of a parse tree, and a knowledge graph embedding is adopted to represent its semantic plausibility. The knowledge graph embedding allows the semantic plausibility of parse trees to be expressed effectively with ease. The experiments on the standard Penn Treebank corpus prove that the proposed model improves the base parser regardless of the number of candidate parse trees.