The world number one triumphed 7-6 (7/3), 7-5, 7-5 in a tense semi-final in which he crucially saved 10 of 11 break points.
In his seventh Wimbledon final, Djokovic will face Matteo Berrettini after the world number nine became the first Italian to reach a Wimbledon singles final by beating Hubert Hurkacz 6-3, 6-0, 6-7 (3/7), 6-4.