Madden made 353 appearances for the Millers between 1956 and 1996.
In his early 20s, Bradford-born Madden played left-back, inside-left and centre-forward before establishing himself in the heart of the defence during his third season at Millmoor. He impressed so much there that in 1960 Rotherham turned down two bids from Bill Shankly's Liverpool, and a £15,000 offer from Fulham the following year.
Madden played in both legs of the first League Cup final, between Rotherham and Aston Villa, in 1961.
He left the club in 1966 to spend a year at Bradford Park Avenue, then joined Aldershot.
Madden managed Darlington from 1975 to 1978, and Rochdale from 1980 to 1983, and ran a pub in Greater Manchester when he left the game.
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