In the final, Djokovic will face 2012 Queen's champion Marin Cilic who stopped the run of Nick Kyrgios in two tiebreakers 7-6 (3), 7-6 (4). "We have played in Wimbledon, but he's just a different player", Djokovic said.
"It's just sometimes, you're pumped and frustrated".
Murray had not played competitively since a Wimbledon quarter-final defeat against Sam Querrey a year ago as he was beset by a hip problem which eventually required surgery in Australia in January.
In-form Chardy had won 12 of his previous 13 matches but the Frenchman was still left without a win - or even a set - against Djokovic after their 11th career meeting.
Djokovic was forced to save the first break point of the match - and did so in magnificent fashion.
"I've played some good tennis, have played some tough opponents", he said.
Djokovic was starting to hit his straps in the second set, making just one unforced error on his serve in the opening 3 games of the set.
A high-level semi-final full of thundering serves boiled down to two tiebreaks in which the ice-cool Cilic proved the more composed player to set up a Sunday showdown with former world number one Novak Djokovic.
And then, with Cilic serving to send it to a tiebreak, Djokovic raised his returning game and broke, with the Croatian dumping a forehand into the net.
Marin Cilic outlined his credentials as a potential Wimbledon champion by winning a second title at Queen's.
Cilic, whose determination has not always matched his considerable talent, heads for Wimbledon with spirits high and excellent prospects of reaching the final there again after the huge disappointment of surrendering to foot blisters and the brilliance of Roger Federer in the 2017 final. "Hopefully, " said Cilic of a potential double grass-court triumph.
The deadlock in that was broken at 4-4 when, on a second deuce, Cilic used his enormous wingspan to hit a miraculous forehand victor down the line to set up a break point, which was converted when Djokovic netted a straightforward backhand.