Madsen, 54, was booked at a Los Angeles County Sheriff's station following a fight with his teenage son. He was charged with a felony count of child endangerment with cruelty to a child and released on $100,000 bail.
He was arrested at his Malibu home by deputies responding to a family disturbance call. Detectives from the Special Victims Bureau were following up on claims that Madsen was fighting with his son while intoxicated, the Sheriff's Department told People. Madsen's son did not require medical attention.
Madsen's attorney, Perry Wander, told TMZ that the actor "found his son smoking pot and they got in an argument when he tried to take it away. It's a family matter and Michael asks that his family's privacy be respected."
Madsen has five sons, two with his second wife Jeannine Bisignano and three with his third wife, Deanna Morgan.
In addition other famous roles in films such as Thelma and Louise and Sin City, Madsen most recently guest-starred on the final season of 24 and appeared on the UK version of Celebrity Big Brother earlier this year.