The Czech, who won Wimbledon in 2023, was pushed hard by Wang, appearing in her first final, but eventually emerged the 7-6(10), 4-6, 6-2 winner.
This was Vondrousova's third success on the WTA tour, and it proved she is hitting form at the right moment after a torrid time with injury, with Wimbledon starting on Monday week.
"Nice to see a full crowd. I really enjoyed the tennis week and the support," the Czech said.
"Congrats on a great week, you played an amazing match," she said, addressing Wang.
"It was an amazing week we had everything we needed.
"I feel like it could not have been better for us here. We were all working really hard. We came here to try and win the first match. So very happy," Vondrousova added.
The 25-year-old, a finalist at the Tokyo Olympics in 2021, has tumbled down the world rankings to 164 from sixth after months away from the court with a left shoulder injury for which she underwent surgery last year.
This was her first title match since she defeated Ons Jabeur in straight sets at Wimbledon two years ago.
Immediate reward for the win will come on Monday when she shoots up inside the top 100 to 73 in the latest WTA world order.
Sunday's success was the icing on the cake for Vondrousova, who stunned world number one and three-time Grand Slam winner Aryna Sabalenka in the semi-final.
For Wang it was just a step too far after what she had described as a "dream" week on the grass of the German capital including defeats of 2021 Berlin champion Liudmila Samsonova and French Open champion Coco Gauff.