I agree, Kick Max is a good one, omitting the blasts. Although I do the blasts but modify when needed. For example I march when they jump rope, I do regular jacks or low jacks, and I take breaks when I need them.
I don't know if you do muscle and cardio training together, but High Step Challenge for beginners and intermediate as well as the HSC from the Hardcore series are pretty knee friendly too. If you want to do just cardio, you could do just the cardio segments.
Hope that helps.