Whitlock had come into the tournament unfancied to make an impact after spending almost two months sidelined ahead of the event with a broken ankle sustained at the end of October.
However, he produced another determined effort to see off Anderson, who won the first set of the match but missed 29 darts at doubles as Whitlock claimed the next five sets to win the match.
"I've got belief in myself at the moment, and I'm not letting my ankle problem be a handicap to me," said Whitlock, who is looking to play in his second World Championship final in the space of three years.
"I think Gary struggled with the pace of the game a little because I was having take more time with my throw, because of the injury.
"Gary missed a lot of doubles which made it easier for me, but I concentrated on my darts and enjoyed the game. I fully believe I can win this World Championship now."
Anderson hit a maximum in the process of taking the first leg of the match before Whitlock levelled by taking the second on double top.
The Premier League Darts champion, who defeated Colin Lloyd in the third round, hit a 151 checkout to take the third leg and landed double five in the next to establish an early advantage.
Whitlock, who was taken to a final set by Michael van Gerwen in his third round match, hit double 18 to take the opening leg of set two, and after both players traded 180s in the next he took out a fabulous 121 checkout, finishing on the bullseye.
Anderson broke his opponent's throw in the third leg, by landing double top with his third dart, and then won the fourth in 13 darts.
Whitlock held advantage of throw in the deciding leg, and he made that count with an accurate attempt at double four to take the set and level the match.
The start of set three saw Anderson miss five chances to win the first leg, but Whitlock missed four of his own to allow him to return and hit double one.
Whitlock landed double top to take the second leg in 13 darts, and the third also fell the way of the Australian as he took out 74 after Anderson wasted five darts at doubles.
Anderson missed a dart at the bullseye in the fourth leg, and Whitlock landed double eight to seal the set and lead the match 2-1.
Whitlock hit two maximums in the process of taking the first leg of the fourth set, and then landed double 16 with his first dart to take the second.
Anderson broke back with a 14-dart finish to win the third, and then hit double top to win the fourth leg, before Whitlock kicked-off the fifth with a 180.
That maximum pushed the 2010 runner-up to a finish first, and he hit double seven to take the set and move two clear of Anderson.
Whitlock capitalised on two more missed darts at doubles from his opponent to make a winning start to the fifth set, before Anderson hit a 177 at the start of the second leg.
The Scot was again first to a finish, but a missed dart at double top was punished by Whitlock, courtesy of an 81 finish.
That put the Australian in command of the set, and an accurate attempt at double ten in the third leg put Whitlock 4-1 ahead with a second 14-darter against the throw to leave him a set away from the semi-finals.
Anderson took the opening two legs of the sixth set with finishes of 68 and 76, before Whitlock hit another 14-dart finish to take the third.
The fourth leg saw Anderson off-target with five chances to win the set, and Whitlock hit double two with his third dart to level.
Anderson hit a 180 in the fifth leg, but a missed dart at tops proved expensive as Whitlock landed double eight to secure the match.
Whitlock now meets Andy Hamilton in the semi-finals, having lost 17-15 to the Stoke ace in the World Matchplay quarter-finals in July when his opponent won nine successive legs to come from 15-8 down to take victory.
"Andy Hamilton will be a tough opponent in the semi-finals," added Whitlock. "He's playing some fantastic darts at the moment, and he seems to thrive under pressure.
"I don't want to get in a close match with him because Andy is one of the best players when it gets in a tight match, as he's shown in the last few matches here.
"I want to get revenge for that but it's nice to see him playing well because he's a fantastic player and a really good friend as well."
Anderson admitted: "I was miles off and deserved to get beaten. I wasn't good enough on the night and I'll put it behind me now and move on to next year."
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