In the paper, we characterize Jordan $*$-derivations of a $2$-torsion free, finite-dimensional semiprime algebra $R$ with involution $*$. To be precise, we prove the theorem: Let $deltacolon R o R$ be a Jordan $*$-derivation. Then there exists a $*$-algebra decomposition $R=Uoplus V$ such that both $U$ and $V$ are invariant under $delta$. Moreover, $*$ is the identity map of $U$ and $delta,|_U$ is a derivation, and the Jordan $*$-derivation $delta,|_V$ is inner. We also prove the theorem: Let $R$ be a noncommutative, centrally closed prime algebra with involution $*$, $operatorname{char},R e 2$, and let $delta$ be a nonzero Jordan $*$-derivation of $R$. If $delta$ is an elementary operator of $R$, then $operatorname{dim}_CRlt infty$ and $delta$ is inner.