Having taken the first set with a break of serve in the final game, Lisicki was forced to come from 3-0 down and then fend off three set points before eventually coming through, 75 76(1).
The German defeated Scheepers for the loss of just five games in Beijing last week, and admitted she struggled to replicate this form in the rematch.
"I don't think it was one of my best matches," Lisicki said. "But at the end of the day, it's only the win that counts so I'm happy that I pulled it out."
After her memorable run to the Wimbledon final in July, Lisicki is back inside the Top 20 and setting her sights even higher.
"It gave me a huge amount of confidence, which I'm able to put into my matches now," she said about her Wimbledon breakthrough. "It's an experience that helps me a lot, for example, in matches when I'm not playing my best tennis.
"I was No.12 two years or one and a half years ago, so I was really close but didn't get into the Top 10. The experience really helped me, so now I'm just going to continue to work.
"Hard work really pays off. Sometimes you start to panic when you don't see the results right away, but it comes with time. That's what I believe in and that's what Wimbledon proved to me."
Elsewhere, the evergreen Kimiko Date-Krumm delighted the home crowd when she defeated No.7 seed Laura Robson, 64 64. Also making an early exit was No.4 seed Flavia Pennetta, after she slipped to a 36 75 60 defeat to lucky loser Vania King.