Djokovic broke Zverev in the sixth game before winning 12 points in a row to win the first set and take a 2-0 lead in the second on the way to victory.
The world number three will next play France's Jo-Wilfried Tsonga, who beat Feliciano Lopez 6-2 6-7 (7-1) 6-4.
Second seed Gilles Simon of France will meet countryman Michael Llodra after beating Julien Benneteau 6-2 6-4.
Llodra beat Mikhail Youzhny of Russia 7-6 (7-4) 7-6 (7-3).
Djokovic said: "I was focused from the start. Mischa was trying to get to the net, but I really returned well. That was the key.
"I haven't got a lot of success in the last two years here, but this year, everything is going well."
World number 12 Tsonga, who leads Djokovic 3-1 overall, landed 78% of his first serves and hit six aces in the first set.
Lopez fought back in the second set and saved two break points to force a tie-break.
"Feliciano was really good in the tie-break," Tsonga said. "He was very aggressive. He served well."
Looking ahead to the semi-final, Djokovic said: "It is never a pleasant challenge to face Jo.
"He has been playing great tennis in the past four months and if he goes on like that, he will be in the top five."
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