Nadal broke in the very first game and led by 2-0 here Saturday, reports Xinhua. Gasquet couldn't find any chance to break back, losing the first set 6-4.
Gasquet finally accomplished his break in the second set, and the two players levelled until 6-6 to enter the tie-break where Nadal dominated to take the second set 7-6 (7-1).
Nadal made the match easier after leading 3-0 to start the third set, moving on to conclude the match 6-2.
"Win the second set I don't say is done, but is a big advantage," said Nadal about the match.
The winner of nine ATP titles will clash with Djokovic for the 37th time in their career.
"I prefer to play against the another one," joked Nadal.
"It's good for both of us, we are playing at very good level so the match becomes great because we play long rallies, we bring our game to the limit situations, and becomes a very difficult match for both of us."
It was Nadal's 11th straight victory against Gasquet.
The winner of nine ATP titles will clash with Djokovic for the 37th time.
"I made the semi-finals, so sure for me it's a big step," said Gasquet. "Last time I did it was six years ago, very long for me."
Earlier in the day, Djokovic survived a five-set battle to outclass Stanislas Wawrinka 2-6, 7-6 (7-4), 3-6, 6-3, 6-4 Saturday, reaching his fourth straight US Open tennis final.
It wasn't the longest match between the two players. They had played each other in the Australian Open and Djokovic also won in five sets.
That match was played for 302 minutes, 53 minute longer than Saturday's match.
"I think that is completely different match than the match we played in the Australian Open. In the Australian Open I had to play my best game to stay with him," said Djokovic.
The first set was a surprising one, in which the ninth seed finished three breaks to win 6-2.
Wawrinka took his good form into the second set, breaking the 26-year-old Serbian to lead 4-2 in the second set.
Djokovic refused to give up, winning the next three games to take back the lead 5-4. Both players kept the serve until the tie-break, in which Wawrinka made a key double fault to lose 7-4.
The third set went smoothly in the first seven games, and Wawrinka managed to break afterwards, holding serve to take a 2-1 lead.
Djokovic took back a set by 6-3, taking the match into the decisive fifth set. The 21-minute game took place after 1-1.
Wawrinka's service game produced as many as 12 deuces. The World No.10 saved five break points to hold his serve, giving himself a 2-1 lead.
"Wawrinka was a better player for most of the better part of the match because he was aggressive and played better tennis," said Djokovic about the game.
Djokovic will fight for his second Grand Slam title this season after winning the Australian Open earlier this year. He had played US Open final in last three years, but only took the title in 2011.
"Playing four finals now in a row and five in total, I mean, it's great," said Djokovic. "Seven, eight years that I have been coming back here I have played at least semifinals in every US Open. Fantastic."