The Bulls bowled out WA for just 93 to wrap up a crushing 211-run defeat in a match where at least four sessions were lost to rain.
WA needed to score 305 off 59 overs after rain forced much of the first two day's play to be abandoned in order to keep their hopes alive heading into the final round.
It is a second big win in succession for Queensland, and the third in four matches since the mid-season resumption.
Queensland will meet NSW in Wollongong on Wednesday, while Tasmania host Victoria in a shootout for the other spot in the final.
Opener Renshaw led the way for Queensland on day four with a confident 143 not out from 196 balls, including 15 fours.
Renshaw and Charlie Hemphrey, who added 68 not out to his unbeaten century from the first innings, put on an unbroken 175 for the third wicket, allowing the home side to declare at 2-252.
Queensland's bowling, especially at home, has been a key to their recent success, with four different wicket-takers on the final day.
Paceman Michael Neser (3-41) did the early damage as WA slipped to 4-16, and then 8-52.