
Daniilidou took just under 90 minutes to go through, with Pennetta hampered by a niggle in her right foot, which required on-court treatment.
"It's been a great week and I'm really pleased to be into the final," said Daniilidou. "The body is perfect and the mind is perfect.
"I have to focus for the final, it's not going to be an easy one, but it's great that I've been in this situation - played a couple of finals in the last couple of years."
The number 42 with four career titles will play the winner from a later semi-final between American qualifier Ashley Harkleroad and Russian second seed Vera Zvonareva.