Lisicki, the top seed, was made to battle for her 6-3 3-6 6-2 victory by Francesca Schiavone, despite the Italian struggling with a shoulder injury.
The German had to save three break points in her opening two service games before she moved ahead with a break of her own in the sixth.
Three successive games went the world number 31's way midway through the opening set, but she started the second badly.
Schiavone showed her fighting qualities to level the match, winning 59 per cent of the points in the second set as Lisicki's game deserted her.
Regular treatment on her shoulder problem did not slow Schiavone down initially, but she began to struggle in the decider as Lisicki won five successive games to reach the final.
Pliskova, meanwhile, reached the fourth WTA final of her career with a 6-1 4-6 6-4 victory over Alison Van Uytvanck.
The Czech raced out of the blocks with four games in a row before she allowed Van Uytvanck back into the last-four clash at the start of the second. Pliskova fell behind early in the decider, but found her rhythm to claim the final four games of the match to progress.
Pliskova goes into the final having failed to beat Lisicki in their two previous meetings, with Sunday set to be their first encounter on a hard court.