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Both sides could claim to have been deserving winners in a classic free-flowing encounter full of goalscoring chances, remarkable saves and four disallowed goals.
Havertz, scorer of the winning goal in last season's European Champions League final, was as cool as a cucumber as he converted in the 117th minute after Palmeiras's Luan had conceded the spot kick with a handball.
Leeds United pulled eight points clear of the relegation zone with a 3-1 win over Burnley.
Third-placed Chelsea, who had drawn with Everton and Wolverhampton Wanderers in their previous two games, are now level with second placed Liverpool on 41 points -- six behind leaders Manchester City.
Liverpool move onto 40 points from 17 games, one behind leaders Manchester City.
West Ham came from behind twice and then claimed all three points with a late goal from substitute defender Arthur Masuaku.
Thomas Tuchel's Chelsea have 30 points from 13 games with City on 29 points and Liverpool, who beat Southampton 4-0 on Saturday, are a further point behind.
Chelsea manager Thomas Tuchel had called on his attacking players to step up after injuries to striker Romelu Lukaku and Timo Werner.
Belgium, who were without Eden Hazard and Romelu Lukaku and only brought on Kevin De Bruyne in the second half, hit the woodwork three times.
A last-minute strike from Theo Hernandez secured the world champions a place in Sunday's final.