James Hayter opened the scoring for the Glovers after 16 minutes when his shot from just outside the area left Bridgwater keeper Ben John with no chance. The home side drew level when Tom Knighton converted from the penalty spot.
The home side were level for just under a minute as Fergus Bell scored to to make it 2-1. The former Mansfield Town man scored his second and Town's third on 36 minutes when he headed home a inch perfect cross from Nathan Ralph.
Yeovil will face Taunton Town in the final. A date and venue is yet to be confirmed.
To view a gallery from the evening at Fairfax Park click here.