"I just started training, because I had such a bad knee in Beijing I didn't know if I'd be able to play here, and now I have won the Billie Jean King trophy - I am so excited," Williams said.
Williams changed her approach from the group-stage contest, attacking Halep's second serve with fierce ground strokes, and regularly rushing the net to cut the points short and prevent her opponent from playing her preferred style.
"I had to play more Serena-style tennis and just do what I do best," Williams said.
"I was expecting a much better player than I was in the earlier round. Being ready for that really was able to help me out."
Halep's run in this tournament capped a remarkable rise, having gone from No. 64 in the rankings to No.4 in the course of 17 months, with a French Open final appearance along the way.
However, her relative lack of experience of big occasions compared to the 18-time Grand Slam champion proved telling.
"I was nervous before the match that I had to play this big final," Halep said. "I couldn't manage very well the situation.
"I knew that she would be more motivated during this match because we played a few days ago and I won."
Halep's victory in the group stage ended Williams' 16-game winning streak at the WTA Finals.