The Stoke ace continued his thrilling run in the tournament with another gritty and determined display as he saw off the Australian star to reach only the second major final of his career.
Hamilton had come from 15-8 down to defeat Whitlock 17-15 in the World Matchplay quarter-finals in July held the advantage in the early stages of the contest as he led 3-1.
However, Whitlock then produced some superb darts to take 12 of the next 14 legs in the process of moving 5-3 up and a set away from his second final in three years.
But Hamilton, who was 200-1 to win the tournament with sponsors Ladbrokes ahead of the event, hit back to claim the next three sets and seal an amazing triumph.
"I'm quite emotional at the moment," said a delighted Hamilton. "I worked so hard tonight and I wouldn't be denied.
"My performance wasn't as good as some of the others I've had in this tournament, but I will take it!. I'm so happy to be in the final and I prepared for another fight - this is my chance to achieve my darting dream."
Hamilton, who was impressive in defeating Belgium's Kim Huybrechts in the quarter-finals, hit double eight to take the first leg, before hitting tops at the first time of asking to break throw in the second.
The Stoke ace then took out a 68 finish to take third leg and seal the set to make an ideal start to his first World Championship semi-final since 2007.
Both players held throw in the opening two legs of the second set and the Australian, who triumphed over Gary Anderson in the last eight, hit double top to take the third leg.
Whitlock missed three chances to win the set in the fourth leg, allowing Hamilton take it on double top at the first time of asking.
The deciding leg saw Whitlock hit a 170 score to leave double top, but three missed doubles allowed Hamilton a chance to steal the set.
However, he was just off-target with his attempt at the bullseye for a 2-0 lead, and Whitlock returned to hit double ten to level the match.
Hamilton took the first leg of set three, which featured a 177, but the Stoke man missed a dart at double six to take the second, which Whitlock won on double two.
Whitlock hit a maximum in the next, but Hamilton won the leg with a clinical two-dart 84 finish, before winning the set on double four.
Whitlock hit double eight to win the first leg of the fourth set, and had a chance to take the second, but a missed attempt at bullseye for a 170 checkout proved expensive as Hamilton took out 118.
The Stoke ace then hit back-to-back 12-dart legs, featuring two more maximums, as he took the set and moved 3-1 up in the game.
Both players failed with attempts at bullseye claim the first leg of the fifth set, before Whitlock hit double eight to secure a break of throw.
Hamilton hit his sixth 180 of the match in the next, but Whitlock won the leg with a fantastic 170 checkout to go 2-0 up, and then finished a 13-darter to take the set and reduce the gap to one.
Hamilton broke throw to make a positive start to set six, by landing double top at the first time of asking, before taking out 89 to win the second with a 14-darter.
Whitlock hit back to win the third leg on double eight, before recording a 14-darter of his own to claim the fourth against the throw.
The deciding leg saw Whitlock hit his seventh 180, and that was followed by a 74 finish as he won the set and squared the match at three-all.
The Australian kept up the momentum in the seventh set, as he broke throw to take the first leg, before the second followed with a 13-dart finish.
Hamilton hit a 180 in the third leg, but it was not enough as Whitlock landed double 18 to win his sixth leg in a row and lead the match for the first time.
The 2010 runner-up was now in full cry as he hit a 101 checkout to open the eighth set, before taking the second leg with a 13-dart finish.
The third leg saw Whitlock off-target with two attempts at double 16, but Hamilton was unable to hit the bullseye, allowing him to return and hit double 16 with his first dart to move a set away from the final.
Hamilton held throw to take the first leg of the ninth set, after Whitlock was guilty of wasting four darts at double 16.
Whitlock hit his tenth maximum in the process of winning the second leg, but Hamilton recorded an excellent 130 checkout to take the third.
Whitlock hit double 16 to move a leg away from victory, after both players had traded 180s, before Hamilton hit an excellent 13-dart finish in the deciding leg to take the set and keep the match alive.
Whitlock missed three shots at doubles at the beginning of set ten, but Hamilton was unable to capitalise as he missed two chances of his own to claim the leg as the Australian landed double ten for an early advantage.
Hamilton registered a 115 checkout to take the second, and then won the next by landing double eight with his third dart.
The fourth leg saw Whitlock miss three darts at doubles, which proved costly as Hamilton hit a superb 110 finish to send the match into a deciding set.
Both players held throw in the first two legs of the final set, and Hamilton continued that trend by winning the third on double ten to move a leg away from the match.
Whitlock converted a pressure 68 finish, by landing double 16 with his third dart, before Hamilton hit a 13-darter to lead for the third time in the set.
Whitlock kicked-off the sixth leg with a 180, but Hamilton produced the more consistent scoring, and the Stoke star landed double eight to seal a place in the final.
"I'm on top of the world," said Hamilton. "To be in the World Championship final means everything to me and I'll be give it all I've got on Monday.
"At 5-3 down I never thought I was going out, I'm a fighter and I had to dig in, and I think I had more fighting power in me at the end.
"If I can perform, concentrate and be solid I can win this. I'm showing that I've got nerve, and I'm in for a fight in the final, but I'm ready for it."
Whitlock was philosophical following his defeat, having had a six-week break ahead of the tournament when he suffered a broken ankle in October.
"I didn't expect to get past the first round, so to reach the semi-finals is a great achievement," said Whitlock.
"I was told by doctors that I wouldn't play in this tournament, so I'm over the moon to get to the semi-finals and hopefully I'll have a big year in 2012 because I've got my desire back after missing two TV tournaments with the injury.
"I'm obviously disappointed to lose this game but Andy was great and I hope he goes on to win the title now. There's no stopping him when he gets on a roll and he threw brilliant darts."
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