In this paper, we introduce the concept of Σ-semicommutative ring, for Σ a finite family of endomorphisms of a ring R. We relate this class of rings with other classes of rings such that Abelian, reduced, Σ-rigid, nilreversible and rings satisfying the Σ-skew reflexive nilpotent property. Also, we study some ring-theoretical properties of skew PBW extensions over Σsemicommutative rings. We prove that if a ring R is Σ-semicommutative with certain conditions of compatibility on derivations, then for every skew PBW extension A over R, R is Baer if and only if R is quasi-Baer, and equivalently, A is quasi-Baer if and only if A is Baer. Finally, we consider some topological conditions for skew PBW extensions over Σ-semicommutative rings.