Achieving high-fidelity and robust qubit manipulations is a crucial requirement for realizing fault-tolerant quantum computation. Here, we demonstrate a single-hole spin qubit in a germanium quantum dot and characterize its control fidelity using gate set tomography. The maximum control fidelities reach 97.48%, 99.81%, 99.88% for the I, X/2 and Y/2 gate, respectively. These results reveal that off-resonance noise during consecutive I gates in gate set tomography sequences severely limits qubit performance. Therefore, we introduce geometric quantum computation to realize noise-resilient qubit manipulation. The geometric gate control fidelities remain above 99% across a wide range of Rabi frequencies. The maximum fidelity surpasses 99.9%. Furthermore, the fidelities of geometric X/2 and Y/2 (I) gates exceed 99% even when detuning the microwave frequency by ± 2.5 MHz (± 1.2 MHz), highlighting the noise-resilient feature. These results demonstrate that geometric quantum computation is a potential method for achieving high-fidelity qubit manipulation reproducibly in semiconductor quantum computation.