ATP Finals champion Tsitsipas lost the first set to former world No.1 Djokovic but rallied to win 3-6 7-6 (7-4) 6-4 and claim another impressive scalp.

Djokovic was 5-1 down in set two but dragged himself back into contention to draw level at 5-5, only for Tsitsipas to win the tie-break.

Having squandered four chances to break in the decider, Djokovic succumbed as Tsitsipas wrapped up the win on his first match point.

Tsitsipas's reward for victory is a final against world No.1 Nadal, who defeated Karen Khachanov 6-1 6-3 in his semi-final.

In the early match, Andrey Rublev secured fifth place by overcoming Hyeon Chung 7-6 (7-5) 7-6 (7-1).