Madsen's illustrious career spanned over four decades, where he became known for portraying a range of characters from law enforcers to criminals, including the infamous Mr. Blonde in the Tarantino classic, Reservoir Dogs. In addition to his film roles, Madsen also made a name for himself on television and voiced characters in popular video games. Survived by four children, including actor Christian Madsen, his passing has left a profound impact on his family and the entertainment industry.

Madsen's sister, Virginia Madsen, highlighted her brother's complexity and artistic spirit, stating that he was "etched in contradiction, tempered by love." As fans and colleagues reflect on his legacy, his contributions to cinema, television, and voice acting will not be forgotten.