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Otago won 20-19 with Ioane winning the game with the penalty kick in the 82nd minute.
Otago trailed the entire game and with 10 minutes left was down 19-10 and looked out for the count.
But it did not throw in the towel and scored a nice try by the impressive Sio Tomkinson.
Ioane slotted the conversion and was just two points behind with just over six minutes left.
Hawke's Bay tried to run the clock down but was penalised for holding on to the ball. Ioane had his chance to win the game with a long range penalty but it fell short.
But Otago immediately swung back on to attack and from a lineout drive, Hawkes Bay was penalised. Ioane had to slot the penalty from about 25m out and 15m from touch and struck it well to give his side the win.
Otago will play Waikato in the final on Friday night in Hamilton.
Otago 20 (Mitchell Scott, Sio Tomkinson tries; Josh Ioane 2 con, 2 pen)
Hawke's Bay 19 (Marino Mikaele-Tu'u. Mason Emerson, Brad Weber tries; JJ Taulagi 2 con) Halftime: 14-3 Hawke's Bay