Quantum fields do not satisfy the pointwise energy conditions that are assumed in the original singularity theorems of Penrose and Hawking. Accordingly, semiclassical quantum gravity lies outside their scope. Although a number of singularity theorems have been derived under weakened energy conditions, none is directly derived from quantum field theory. Here, we employ a quantum energy inequality satisfied by the quantized minimally coupled linear scalar field to derive a singularity theorem valid in semiclassical gravity. By considering a toy cosmological model, we show that our result predicts timelike geodesic incompleteness on plausible timescales with reasonable conditions at a spacelike Cauchy surface.