In terms of memories, the ITCM and DTCM will be the fastest, because they run at the same speed the core does and don't use a cache. OCRAM is slower (3-4x slower for memcpys, IIRC) since it has to go through the AXI bus and the cache. SEMC probably cannot go faster than OCRAM (since it is using the same AXI bus and cache), but the exact speed will depend on the setup.
In terms of memories, the ITCM and DTCM will be the fastest, because they run at the same speed the core does and don't use a cache. OCRAM is slower (3-4x slower for memcpys, IIRC) since it has to go through the AXI bus and the cache. SEMC probably cannot go faster than OCRAM (since it is using the same AXI bus and cache), but the exact speed will depend on the setup.