The number 5 in the world won in the semifinals against Zverev at Roland Garros with 6-3 6-3 4-6 4-6 6-3.
After taking a two-set lead, world number 6 Zverev made an exciting comeback to win the third and fourth sets, but after regrouping, Tsitsipas came back with a bang and won the crucial set.
The 22-year-old Tsitsipas will now face either Rafael Nadal or Novak Djokovic in the final on Sunday.
“I can only think of my roots, where I come from, I came from a really small place outside of Athens. My dream was to play here, my dream was to play on the big stage of the French Open one day, I never thought I would play, “said Tsitsipas after his win in court.
“Today a lot of people raised flags, people cheered me on in Greek, it was very important to have these people around.
“It is very important for me to do my job well enough to gain recognition in my country, but not only that, I am very happy that Greece is now more part of the tennis community,” added Tsitsipas.