Madeley has appeared as Kate Kendrick in Deadwater Fell and as Audrey Hall in the remake of All Creatures Great and Small.
In 2005, Madeley appeared in three off-West End productions (Laura Wade's Colder Than Here, as well as The Philanthropist and The Cosmonaut's Last Message..., both at the Donmar Warehouse), and rounded off the year starring as both Aaron and Young Alexander Ashbrook in the original Royal National Theatre production of Helen Edmundson's Coram Boy.
In early 2007 she was a central character in the second episode of “Lewis”, and she also appeared in Channel 4's Consent, which combined a dramatised vignette about an alleged date rape with a "real life" sequence in which lawyers and a jury made up of members of the public participated in a trial.
In January 2013, Madeley starred in Hammer Films' first live theatre play, a new stage adaptation of The Turn of the Screw.
In 2020, she played Kate Kendrick in Deadwater Fell and was cast as housekeeper Audrey Hall in the remake of All Creatures Great and Small.