Tomas Berdych is into the last four at The Championships after Novak retired with an elbow injury early in the second set.
Serbia will next play against France in away tie on September 15-17. It will be a rematch of the 2010 final when Serbia won their maiden title.
Defending champion remained on course for a fourth Shanghai Rolex Masters crown as he beat Mischa Zverev 3-6, 7-6 (4), 6-3.
Novak cruised into his 30th Major semi-final with a 6-3, 7-5, 6-3 victory over no.7 seed Tomas Berdych on Thursday.
Nole produced a commanding display on Wednesday night to beat Tomas Berdych 6-3, 6-3 and set up clash with David Goffin.
Nole produced dominant display against no.7 seed Kei Nishikori, sealing a commanding 6-3, 6-2, 6-4 victory to set up a last four encounter with Roger Federer.