Malaysia, the top seeds, had knocked out Scotland 3-1 in the quarter-finals and it took a thrilling deciding game win in the final mixed doubles rubber to clinch the win against Singapore.
It even needed a comeback in the final game. Ping Soon Chan and Lai Pei Jing were 12-13 down in the third game against Danny Chrisnanta and Vanessa Neo but the pair that had lost to Scots Robert Blair and Imogen Bankier won the next six points and pulled off a 17-21 21-12 21-14 victory.
Malaysia now face the winners of the other semi-final between England and India in the gold medal match at 4pm on Monday.
It was first blood for Malaysia with a 21-17 18-21 21-16 win for Wee Kiong Tan and Wei Shem Goh in the men’s doubles but teenager Xiaoyu Liang made it 1-1 with a 21-12 22-20 women’s singles victory against Jing Yi Tee.
Chang Wei Feng, top seed in the individual men’s singles, again gave Malaysia the advantage by overcoming Derek Wong 21-9 21-18 before Shinta Mulia Sari and Lei Yeo bounced back for Singapore to take the women’s doubles 21-9 21-8 against Khei Wei Woon and Vivian Kak Mun Hoo.
Singapore, the No.4 seeds and will now go into the bronze medal play-off on Monday morning.