They'll face Westmeath in two weeks time.
Laois' chances of reaching a provincial football semi-final came to an end on Sunday.
Justin McNulty's side were beaten 2-20 to 2-15 by Kildare in the quarter finals of the Leinster Championship.
The O'Moore County were level at the break, thanks to goals from Paul Kingston and Daragh Galvin.
However, goals from Ben Loakman and Darragh Kirwan, with a further five points from Eoin Cully sealed the victory for Kildare, who'll now face Westmeath in the final four.
McNulty says it's a disappointing defeat:
Justin McNulty spoke to Pat O'Sullivan after the game:
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