Briton Murray, who had won all five of his previous meetings with the 11th-ranked Belgian, was beaten 7-6 (7/4), 6-4.
Goffin will next meet either Canadian Milos Raonic or Spaniard Rafael Nadal in Saturday’s final, with Murray up against the loser of that semi-final.
Nadal, a three-time winner, is making his return to competition in the six-man event after a 2016 season plagued by physical problems.
The championship from December 29-31 also includes France’s Jo-Wilfried Tsonga and Czech Thomas Berdych.
