Nole reached his 16th consecutive final and improved his ATP H2H record against the Czech to 22-2.
The top seed dropped serve twice but finished match in straight sets (6-3, 7-5) to move into the Qatar ExxonMobil Open last four.
Novak rolled into the quarter-finals of the Qatar ExxonMobil Open with a speedy 6-2, 6-2 victory over Fernando Verdasco.
Novak successfully started his 2016 season on Monday with a straightforward 6-2, 6-2 win over Dustin Brown at the Qatar ExxonMobil Open.
Novak is no.1 seed and will open his Qatar ExxonMobil Open campaign against German qualifier Dustin Brown (ATP #118).
Novak completed dream season capturing a career-high 11th title of the year and fifth ATP World Tour Finals trophy (b.Federer 6-3, 6-4)
Novak is one win away from defending his Barclays ATP World Tour Finals title after he beat Rafael Nadal 6-3, 6-3 at the O2 Arena.
Defending champion advanced into the Barclays ATP World Tour Finals last four with a 6-3, 7-5 victory over Tomas Berdych in his final Sam Smith Group round robin match at the O2 arena on Thursday.
Top seed and defending champion suffered his sixth match loss of a season on Tuesday in his second RR match at the Barclays ATP World Tour Finals.
Nole produced another perfectly composed performance on Sunday at the Barclays ATP World Tour Finals.