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Djokovic was imperious on serve all match long, not offering Cilic a single break point and needing just one break in each set to claim victory.
The Serb's first break arrived in just the third game, while in the second and third sets he broke at 4-4 and 3-3 respectively.
Ninth-seed Cilic struggled to deal with Djokovic's consistency and never imposed himself on the two-time champion's serve. The Croat has now lost all 13 meetings with Djokovic.
Djokovic, meanwhile, reached the last four at Wimbledon six years in a row and also passed Andre Agassi to move up to fourth on the list of most Grand Slam semi-finals in the Open era.