Jenkins, a semi-finalist last year at Alexandra Palace, won the first two sets to take an early advantage, before Pipe took the third to hit back led led 2-1 the fourth.
However, Jenkins, put together a run of five straight legs to win the match and end Pipe's brave challenge.
"I'm very pleased to win that match and reach the quarter-finals," said Jenkins, who ended the match with a three-dart average of 102.64.
"I wasn't put off by Justin's style of play. I adapted well, kept concentrating on my own game and it paid dividends in the end."
Jenkins won the first leg of the game in 13 darts with the aid of a 180 before Pipe took out 72 in two darts to edge the second, which also included a 180 from the Taunton man.
Jenkins hit double ten with his third dart to take the third and a trio of 140 scores from the Ledbury man followed in the next, which he won with an 81 finish to take the set and establish an early lead.
Pipe, who came through a titanic two-hour battle against Wes Newton in the second round, won the first leg of the set two with an 80 finish, before Jenkins claimed the second in 14 darts.
Pipe hit an excellent 121 checkout, finishing on the bullseye, to win the third leg, but Jenkins levelled again by landing double seven to take the fourth.
The deciding leg proved to be a dramatic affair, as Jenkins missed two darts at doubles before Pipe was off-target with four chances to level, and the seven-time major finalist returned to land double ten to lead 2-0.
The tenth seed continued his excellent form at the start of the third set, hitting a 12-darter to win the opening leg before Pipe claimed the second in the same manner with an 81 finish.
Pipe took the third leg against the darts by taking out 71, after Jenkins was off-target with two attempts at double top, and the fourth soon followed, as Pipe recorded a 79 finish to reduce the gap to 2-1.
Jenkins, who defeated Co Stompe in the second round, broke throw at the start of the fourth set, but missed two chances to double his advantage, and Pipe cashed in by hitting double top at the first attempt.
Pipe hit his fifth 180 of the match in the process of winning third leg, but Jenkins posted double top to complete a 14-darter in taking the fourth leg.
The deciding leg saw Jenkins hit another 180 to forge ahead, and he hit double top at the first time of asking, to restore his two-set advantage with a fine 11-darter.
Jenkins hit a 14-dart finish to take the first leg of the fifth set and then made Pipe pay for three missed darts at doubles by converting a 94 finish in the second.
That put Jenkins a leg away from the quarter-finals, and after Pipe missed a dart at double 16 he stepped up to take out 96 with single 20, double 18 and double top to seal victory in excellent fashion.
"I'm always confident and I know what I can throw like, and it was great to perform like that on stage," added Jenkins. "Hopefully I can do it again on Friday.
"I'm playing the World Champion and there will be a buzz in the game, and that's what's gets me going."
Pipe, who has jumped into the world's top 32 in an impressive 2011, said: "Terry played fantastic darts, and I'd love to see him carry on playing like that and win his first major. He showed why he's a great darts player.
"I'm very disappointed at the moment but it's only my second time at the World Championship and I've made it to the last 16, so I've got to be happy.
"I missed my chance to win the second set and level and that was the turning point early on, but I was missing treble 20 a lot with my first dart and that cost me."
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