Madison Campground, elevation 6,800 feet (2,073 m), is one of the most popular in the park, offering the earliest opening and latest closing dates of the park's seasonal campgrounds.

This campground is located near the confluence of the spectacular Gibbon and Firehole Rivers, which form the Madison River. The Madison, Firehole, and Gibbon Rivers are considered world-class fly-fishing destinations. With sites shaded by lodgepole pine, Madison campground is about 14 miles from the town of West Yellowstone and 16 miles north of Old Faithful. In spring and early summer, nearby meadows teem with wildflowers and grazing bison. In September and early October, the bugling of bull elk in rut is often heard.

Each campsite has a picnic table and fire pit with grate. Restroom facilities are equipped with flush toilets and sinks with running water. Drinking water is available from faucets around the campground. There are no utility hookups but the campground has an RV dump station. Generators may be used between the hours of 8 AM and 8 PM. Food storage boxes measuring 48 x 22 x 22 in. are available for shared use.

Wheelchair accessible and group sites are available.