Murray, playing his first tournament since having hip resurfacing surgery five months ago, had a mixed match, especially with his serving, but he and singles finalist Lopez overcame their nerves after losing the second set, clinching the Champions' tie-break 10-7.
It came after the pair had defeated Dan Evans and Ken Skupski 6-4 7-6 earlier in the day after the match was held over from Friday due to bad light at 4-5 in the second set.
Murray and Lopez will now face Rajeev Ram and Joe Salisbury in the final after they overcame the Bryan brothers 7-6 7-6.
Wimbledon men's doubles
Wimbledon witnesses first 12-12 tiebreak
09/07/2019 AT 14:52
Lopez, who beat Felix Augur-Aliassime in three sets in his semi final, will also face Gilles Simon on Saturday after the Frenchman beat fourth seed Daniil Medvedev 6-7 (4-7) 6-4 6-3.
ATP Queen's doubles
Andy Murray's Queen's comeback ends with doubles title
23/06/2019 AT 18:33
ATP Queen's doubles
Andy Murray's doubles match at Queen’s halted by bad light
21/06/2019 AT 23:33