The World number one beat Croatian Donna Vekic 6-3 4-6 7-6 (7-4) at the Porsche Tennis Grand Prix.
Osaka will now face Anett Kontaveit, who was able to progress after Victoria Azarenka retired.
Petra Kvitova will face Kiki Bertens in the other semi-final.
Djokovic battles past Tien to reach US Open second round
Novak Djokovic delivered a lesson in Grand Slam tenacity to Learner Tien in the first round of the U.S. Open on Sunday, battling past the American teenager 6-1 7-6(3) 6-2 to launch his latest quest for a record 25th major title.
Head, Marsh, Green centuries power Australia to consolation win
Travis Head, Mitchell Marsh and Cameron Green smashed blistering hundreds as Australia steamrollered South Africa by 276 runs in the final one-day international in Mackay on Sunday.
Shades of Arsenal legend as Gyokeres announces himself to Gunners faithful
Striker Viktor Gyokeres announced himself to Arsenal’s fans with two goals in a 5-0 Premier League win over Leeds in his first home league game, with his opener reminding many of them of their previous hero in the number 14 shirt he now wears, Thierry Henry.
Pujara calls time on India career
Veteran batsman Cheteshwar Pujara dropped curtains on his illustrious India career on Sunday after playing 103 Tests but failing to win back his place in the last two years.
Medvedev and Sabalenka face tricky tests in US Open first round
The US Open's first round begins on Sunday with defending women's champion Aryna Sabalenka looking to recapture top form, while former men's champion Daniil Medvedev faces a familiar foe whom he has failed to beat in previous meetings.
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