Gilroy’s strike was the difference between the [Cherries](http://www.bournemouthecho.co.uk/sport/cherries/clubnews/) and last year’s runners-up in the Plate, Cambridge United as Bournemouth edged the tie 2-1.
The hosts at Ringwood Community Hub opened the scoring through Molly Barron-Clark after 10 minutes, but their visitors levelled the game midway through the second half.
But Gilroy’s effort with 24 minutes to go sealed the game for the home side and sent them into the last four.
Katie James had a good sight of goal in the early exchanges, her 25-yard strike pushed around the post by U’s keeper Lauren Webb.
From the resulting corner, Barron-Clark opened the scoring, driving low into the back of the net from the edge of the box.
_(Image: Richard Crease)_ Cambridge sought an immediate reply as Eva Hubbard hit a speculative effort high over the bar, before Webb saved well from Jenna Markham to deny the [Cherries](/sport/cherries/clubnews/) a second.
Barron-Clark twice went close, sending an effort past the post, then failing to make contact with an inviting Kelci Bowers cross.
The visitors had their best chance of the match to that point in the 35th minute, but Ella Marden volleyed over the bar.
The Cherries entered the interval with their narrow 1-0 lead intact, although Gemma McGuinness, Erin Bloomfield and Barron-Clark all went close to doubling their advantage in the closing minutes of the first half.
Cambridge kept the deficit at one in the early exchanges of the second half, defending dangerous Abby Jones and Gilroy crosses well, before Webb did well to get off her line to smother the ball at the feet of Markham.
The U’s levelled the game nine minutes after the resumption, Charlotte Gillies firing home a cross from Hubbard from close range.
Webb kept the game at level pegging not long after the equaliser, clutching Barron-Clark’s effort after Bloomfield teed her up.
The midfielder was again foiled by Webb as she slid in to meet a Gilroy cross.
But the stopper was powerless to stop Gilroy’s sensational free kick after 66 minutes.
_(Image: Amy Maidment/AFC Bournemouth)_ She stepped up to take the set piece on the angle with her left foot, placing the ball perfectly into the top corner with accuracy and power to give Webb no chance.
The Cherries defended well to maintain their lead in the closing stages, and nearly extended their lead through Bowers, whose fierce strike was deflected over the bar.
The final whistle went and Bournemouth’s progression into the final four of the National League Plate was confirmed.