Perfect Space-Time Codes are optimal codes in their original construction for Multiple Input Multiple Output (MIMO) systems. Based on cyclic division algebras, they are full-rate, full-diversity codes, have non-vanishing determinants and achieve Diversity-Multiplexing Tradeoff (DMT). In addition, they have led to optimal distributed Space-Time Codes (STC) when applied in cooperative networks under the assumption of perfect synchronization between relays. However, these codes loose their diversity when delays are introduced and thus are not delay-tolerant. In this paper, using the cyclic division algebras of perfect codes, we construct new codes that maintain the same properties as perfect codes in the synchronous case. But also, these codes preserve their full-diversity in asynchronous transmission.