He earned his bachelor's degree at Washington State University, majoring in zoology and minoring in chemistry.

Madsen had planned to go to dental school but instead became a seminary teacher and spent much of his career with the Church Educational System (CES).

Madsen was later an LDS Church employee, serving in the Melchizedek Priesthood Department and other administrative roles.

[3] Prior to his call as a general authority, Madsen served in the LDS Church as a regional representative and as president of the England Southwest Mission (1970 to 1973).

[4] He also served as a member of the Young Men General Board and as a stake mission president.