Ahlers, Alona Rivord, Miguel Susana, Steve Brusk and Lynn Lamanivong contributed to this report.
Henin will now play either Svetlana Kuznetsova of Alona Bondarenko who play in the other semi-final.
Her next opponent is unseeded Ukrainian Alona Bondarenko, who battled past Lucie Safarova of the Czech Republic 5-7 6-4 7-5.
Jankovic was broken twice in defeating Alona Bondarenko of Ukraine 6-2 6-0, while Ivanovic dispatched Nathalie Dechy of France 6-1 6-1.
World number one Jankovic, the top player in the absence through injury of compatriot Ana Ivanovic, brushed aside Ukraine's Alona Bondarenko 7-5 6-1.
Meanwhile, Zheng Jie became the first Chinese player to make the last eight of the Australian Open by beating Ukraine's Alona Bondarenko 7-6 6-4.
Estonian 15th seed Kaia Kanepi suffered a 6-3 7-6 (7-4) reverse against Czech Lucie Safarova, who earned a second-round clash with Ukrainian Alona Bondarenko.
Former world No. 1 Jankovic, who reached the semifinals in Melbourne two years ago, was crushed 6-2 6-3 by Ukrainian 31st seed Alona Bondarenko.
They were joined in the second round by Francesca Schiavone (17), Alona Bondarenko (27) and Alexandra Dulgheru (31), who were all taken to three sets before triumphing.
CNN's Elise Labott, Jeanne Meserve, Carol Cratty, Richard Quest, Nic Robertson, Christian Purefoy, Tom Cohen, Mike Ahlers, Alona Rivord, Mohammed Jamjoom, Miguel Susana and Barbara Starr contributed to this report.
Murray went through with a four-set win over Robert Kendrick - while Baltacha , who reached the third round in 2002, beat Ukraine's Alona Bondarenko in three sets in a late-night match.
Seventh seed Vera Zvonareva defeated ninth seed Alona Bondarenko 6-2 6-1, 13th seed Melanie Oudin beat Christina Mchale 6-4 6-0, and eighth seed Daniela Hantuchova battled past Angelique Kerber 6-7 (6-8) 7-5 6-3.
Pennetta helped defending champions Italy to end the day level 1-1 with Ukraine, beating Kateryna Bondarenko 7-5 6-3 after Francesca Schiavone lost the opening match 6-1 6-4 to the elder Bondarenko sister Alona in Kharkiv.
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