Hope Powell’s team’s victory followed a win over Italy and a draw with Scotland.
Scotland finished third in the group after defeating Italy thanks to goals from Jane Ross and Rhonda Jones.
England had fallen behind to an Amber Hearn goal after just seven minutes, but hit back with strikes from Ellen White, Eni Aluko and Toni Duggan.
Powell said: “I brought the substitutes on to win the game and it worked. That was pleasing but so was our performance. I thought that everybody played their part and we were deserving winners.”
England will face Canada in Wednesday’s final.