We calculate the zero-temperature differential conductance dI/dV of a voltage-biased one-dimensional junction between a nontopological and a topological superconductor for arbitrary junction transparency using the scattering matrix formalism. We consider two representative models for the topological superconductors: (i) spinful p-wave and (ii) s-wave with spin-orbit coupling and spin splitting. We verify that in the tunneling limit (small junction transparencies) where only single Andreev reflections contribute to the current, the conductance for voltages below the nontopological superconductor gap Delta(s) is zero and there are two symmetric conductance peaks appearing at eV = +/-Delta(s). with the quantized value (4-pi)2e(2)/h due to resonant Andreev reflection from the Majorana zero mode. However, when the junction transparency is not small, there is a finite conductance for e vertical bar V vertical bar < Delta(s) arising from multiple Andreev reflections. The conductance at eV = +/-Delta(s). in this case is no longer quantized. In general, the conductance is particle-hole asymmetric except for sufficiently small transparencies. We further show that, for certain values of parameters, the tunneling conductance from a zero-energy conventional Andreev bound state can be made to mimic the conductance from a true Majorana mode.