Yes. In 1987 Biden paraphrased lines from Kinnock without crediting him, though other times he did credit him.

Biden's paraphrasing of Kinnock in a speech without attribution, which was caught on videotape, derailed his bid for the presidency in the 1988 election even though Biden had credited Kinnock in similar speeches.

The Chicago Tribune:

Twenty years ago, Biden was, in a sense, the Obama of his time, a young turk of a politician with a gift for soaring, transcendental rhetoric. But his first bid for the presidency imploded in 1988 when he was accused of plagiarizing a speech by British politician Neil Kinnock that described the candidate's working-class roots. Biden was forced from the race after the campaign of eventual nominee Michael Dukakis circulated a videotape with Biden failing to give credit to Kinnock for a speech he gave in Iowa.

Biden, however, had credited Kinnock with the remarks in his other speeches, leaving many of his supporters at the time--and long after--feeling like Biden was pushed from the stage illegitimately. Now, in yet another twist in this dramatic election year, the stage calls him again, two decades later. [1]

Telegraph.co.uk provides a comparison of what Kinnock said, and how Biden paraphrased it without attribution:

NEIL KINNOCK at Welsh Labour Party conference May 1987:

"Why am I the first Kinnock in a thousand generations to be able to get to university? Was it because our predecessors were thick? Does anybody really think that they didn't get what we had because they didn't have the talent or the strength or the endurance or the commitment? Of course not. It was because there was no platform upon which they could stand"

JOE BIDEN IN Sept 1987 during his first presidential campaign:

"Why is it that Joe Biden is the first in his family ever to go a university? Why is it that my wife... is the first in her family to ever go to college? Is it because our fathers and mothers were not bright? ...Is it because they didn't work hard? My ancestors who worked in the coal mines of northeast Pennsylvania and would come after 12 hours and play football for four hours? It's because they didn't have a platform on which to stand." [2]

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[1] Oliphant J & Mark M. Joe Biden: Barack Obama's running mate. Chicago Tribune. August 23, 2008

[2] Telegraph.co.uk. Joe Biden plagiarised Neil Kinnock speech. August 23, 2008