In this work, we address the problem of improving an automatic speech recognition (ASR) system. We want to efficiently model long-term semantic relations between words and introduce this information through a semantic model. We propose neural network (NN) semantic models for rescoring the N-best hypothesis list. These models use two types of representations as part of DNN input features: static word embeddings (from word2vec) and dynamic contextual embeddings (from BERT). Semantic information is computed thanks to these representations and used in the hypothesis pair comparison mode. We perform experiments on the publicly available dataset TED-LIUM. Clean speech and speech mixed with real noise are experimented, according to our industrial project context. The proposed BERT-based rescoring approach gives a significant improvement of the word error rate (WER) over the ASR system without rescoring semantic models under all experimented conditions and with n-gram and recurrent NN language model (Long Short-Term model, LSTM).