Madison is located at . According to the United States Census Bureau, the city has a total area of, all of it land. Madison has been assigned the ZIP code 57042 and the FIPS place code 40220. Madison is located between Lake Herman and Lake Madison.
As of the census of 2010, there were 6,474 people, 2,627 households, and 1,449 families living in the city. The population density was. There were 2,848 housing units at an average density of. The racial makeup of the city was 94.5% White, 0.7% African American, 0.9% Native American, 1.1% Asian, 1.3% from other races, and 1.5% from two or more races. Hispanic or Latino of any race were 2.4% of the population. There were 2,627 households of which 26.5% had children under the age of 18 living with them, 42.6% were married couplesliving together, 9.4% had a female householder with no husband present, 3.2% had a male householder with no wife present, and 44.8% were non-families. 37.3% of all households were made up of individuals and 14.2% had someone living alone who was 65 years of age or older. The average household size was 2.22 and the average family size was 2.93. The median age in the city was 34.6 years. 20.6% of residents were under the age of 18; 18.1% were between the ages of 18 and 24; 20.4% were from 25 to 44; 23.6% were from 45 to 64; and 17.3% were 65 years of age or older. The gender makeup of the city was 49.8% male and 50.2% female.
2000 census
As of the census of 2000, there were 6,540 people, 2,589 households, and 1,491 families living in the city. The population density was 1,529.4 people per square mile. There were 2,706 housing units at an average density of 632.8 per square mile. The racial makeup of the city was 97.16% White, 0.24% African American, 0.81% Native American, 0.76% Asian, 0.02% Pacific Islander, 0.40% from other races, and 0.61% from two or more races. Hispanic or Latino of any race were 0.92% of the population. There were 2,589 households out of which 26.6% had children under the age of 18 living with them, 47.2% were married couples living together, 7.5% had a female householder with no husband present, and 42.4% were non-families. 34.8% of all households were made up of individuals and 16.7% had someone living alone who was 65 years of age or older. The average household size was 2.26 and the average family size was 2.94. In the city, the population was spread out with 21.3% under the age of 18, 21.0% from 18 to 24, 21.7% from 25 to 44, 17.4% from 45 to 64, and 18.6% who were 65 years of age or older. The median age was 33 years. For every 100 females, there were 93.7 males. For every 100 females age 18 and over, there were 93.2 males. As of 2000 the median income for a household in the city was $30,434, and the median income for a family was $39,745. Males had a median income of $28,408 versus $20,965 for females. The per capita income for the city was $14,767. About 6.3% of families and 11.9% of the population were below the poverty line, including 12.2% of those under age 18 and 7.7% of those age 65 or over.
History
Madison was laid out in 1873. The city was named after Madison, Wisconsin.
Madison's high school gymnastic program won the state gymnastics meet 16 times in a row from 1994–2010. That is a national record. The Madison basketball team won the state title two years in a row from 2009-2010 and again in 2013–2014. The Bulldogs football team rode an 11–0 season to the 11A state championship game in 2013 where they lost 28–21 to West Central on a touchdown pass with 19 seconds to go in the game.
