Venus Williams booked her place in the WTA Finals semi-finals with a straight sets victory over Garbine Muguruza.

Williams lost the Wimbledon final to Muguruza earlier this year but avenged that loss with a 7-5 6-4 win in Singapore to grab second place in the White Group behind Karolina Pliskova.

Muguruza secured the first break of serve in the match in the seventh game of the first set but Williams, 37, immediately responded with a break of her own before going on to take the opener 7-5.

Williams lost her opening two service games of the second set but levelled at 3-3 and won the final three games to claim the victory in one hour and 43 minutes.

The American’s win ended Muguruza’s chances of ending the year as the WTA’s top ranked player, and Williams was quick to praise the Spanish star following her victory.

“I played an amazing opponent who has had an amazing year so I was so happy to win the last point,” said the seven-time Grand Slam champion.

Williams will play either Caroline Wozniacki or Caroline Garcia in the semi-finals.

Williams is 5.25 to win the WTA Finals outright, Wozniacki can be backed at 2.80 and Pliskova is 3.20.