Tipsarevic was suffering from a right leg injury and opted against playing the last-four clash with the French Open just three weeks away.
Writing on his Facebook page, Djokovic said: "Janko had to pull out from tonight's semi-final match because of a muscle injury. I sincerely hope he will manage to recover for the rest of the claycourt season.
"I will try to get the title back where it belongs and that is Serbia."
Djokovic won the title in the tournament’s inaugural 2009 edition with victory over Lukasz Kubot of Poland.
The 23-year-old Djokovic, chasing his fifth title of 2011, will face Feliciano Lopez in Sunday's final after the Spaniard enjoyed a 7-6 (7/3), 6-2 victory over Italian Filippo Volandri,
Djokovic takes a 3-0 career lead into the clash with world number 37-ranked Lopez, although the left-hander did win a set off Djokovic in their most recent meeting in Dubai in February.
"I think it’s a great match for me to play," said Lopez.
"I’ve already won four matches this week. My confidence is really high at the moment and I feel great to play against Novak. I know it’s going to be tough; he’s been the best player this year. It will be a great experience."
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