The seven-time champion took just over an hour to dispose of her opponent 6-2 6-4, preventing an all-German final and setting up a showdown with Angelique Kerber in Saturday's showpiece.
Goerges survived a break point in just the second game of the opener to avoid a nightmare start against the number 25 seed, who had plummeted down the world rankings during her time away from the game.
However, Williams soon took control of the contest and won the final four games of the first set to take it 6-2 in just 35 minutes.
The American was imperious on her own serve for much of the second set, dropping just one point from her opening four service games and taking a break along the way to leave her serving for the match at 5-3.
However, Goerges refused to give in and took the third of three break points to end Williams's dominance on serve and give herself hope of an unlikely comeback.
It only proved to be a temporary reprieve, though, and Williams broke back to love in the very next game to seal her place in the final.
Williams will now have the opportunity to move level with Margaret Court on the list of all-time Grand Slam winners with 24 when she faces Kerber in the final.