Goals from Cian McNamee, Ruari Woods, and Cian Duffy led Offaly to a place in the decider.
Offaly are into a Leinster minor football final after a two point victory over Kildare in Tullamore.
Roger Ryan's side scored crucial goals at crucial stages of both the first and second halves to secure their place in the provincial decider for the first time since 2020.
The final score was 4-9 to 1-16.
The Faithful County started like a train in O'Connor Park, rattling off 2-4 in the opening 20 minutes to lead by seven points.
Captain and full forward Cian McNamee raised both green flags, but his team failed to score again in the first period.
Kildare responded in impressive fashion to close out the half in front by three.
The second half saw Offaly back up and running on the scoreboard first, thanks to a point from Bracknagh's Cathal Weldon.
Ruari Woods struck in the 42nd minute for his side's third goal, before Cian Duffy made it four just over ten minutes later.
With the scores level heading into injury time, up stepped Jack Ryan to slot a two pointer to drive Offaly into a Leinster final against Louth who overcame Dublin the other semi-final.
Westmeath Host Dublin In Leinster Minor Football Championship
Offaly Miss Out On Promotion In National Ladies Football League
Laois Hurling Captain Says Winning Games Vital For Confidence
Dana Scheriff Stars As Athlone Town Lay Down Marker At Bohemians
Westmeath Ladies Finish League Campaign With Victory Over Cavan
Shane Lowry Lands Hole In One At Houston Open
Laois Defeat Kerry To Win Division Two Hurling League Final
Cork City Prove Too Strong For Athlone Town
Offaly Hurlers Named In Fitzgibbon Cup Team Of The Year
Buccaneers Host Sligo In AIL
Westmeath Claim Opening Round Win In Leinster Minor Football Championship
Penalty Shootout Heartache Breaks Irish Hearts In Prague
Kerry A Big And Strong Challenge For Laois - Enda Lyons
Ireland In Czechia For Crucial World Cup Play Off
NHL: Division Two Title The Goal For Laois This Weekend
Athlone Town On The Road In Women's Premier Division
Shane Lowry Begins Houston Open Hunt This Afternoon
Laois Begin U20 Leinster Football Championship With Defeat
Scheffler Drops Out As Lowry Searches For Form