Madsen was born in Salt Lake City, Utah. He was the second son of Axel A. Madsen and Emily Wells Grant; his parents were members of the Church of Jesus Christ of Latter-day Saints (LDS Church). His mother was a daughter of Heber J. Grant;[3] she died when Madsen was about two years old. He was raised in the home of his aunt Deseret Grant Doyle and her husband Ashby Douglas Doyle, where his father also resided. This—as well as the home where Madsen had lived previously—were in the Avenues area of Salt Lake City.[4]
Madsen wrote several philosophical theses, including Four Essays on Love.[8] He also wrote a paper "Are Christians Mormon?",[9] as well as a biography of B. H. Roberts.
Madsen most recently served in the LDS Church as the patriarch of the Provo, Utah, Sharon East Stake.
Madsen died at his home on the morning of May 28, 2009, from bone cancer.[12]
Madsen also served as a stake president of a BYU student stake, with James Fillmore and Dennis Harper as counselors. Towards the end of his service, the stake included 14 wards.
During Madsen's tenure as stake president, the stake met in the Harris Fine Arts Center on the BYU Campus. He encouraged worship services to include inspirational music. Since the stake met in the building with concert halls several stake conferences were held there which included a full orchestra. He asked for and received permission to include brass instruments.