The defending champion was dominant in the first set as two breaks of his opponent's serve saw him race into a 4-0 lead.
Tipsarevic was soon able to steady himself, but it was too late as Nadal took the first set 6-2.
The world number two got off to a great start in the second with an instant break of the Serbian's serve.
However, the world number eight broke Nadal for the first time to level things up.
Tipsarevic's resurgence didn't last long as the six-time champion broke twice in quick succession before serving out the set, and the match, 6-2.