The sixth seed, who also lost to Iga Swiatek in the US Open final last year, will take on second seed Aryna Sabalenka in the last four after fighting from a set down to defeat Rybakina 6-7 (5) 6-4 6-1.
Jabeur missed a set point in the opening set but fought back impressively, hitting more winners and making fewer errors than her opponent, who has established a fledgling big three in the women's game this season with Sabalenka and Iga Swiatek.
The Queen was among the interested watchers from the Royal Box as the pair took to Centre Court.
They had not faced each other since last year's final, where Jabeur took the first set before Rybakina fought back to win in three.
Jabeur said: "I'm very happy with the performance. There was a lot of emotion out there, especially playing someone who serves very well.
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