Madelia, "Pride of the Prairie" was established September 10, 1857. It was originally named Wapaca, however, within a year the name was changed to Madelia in memory of the deceased daughter of one of the founding fathers, Philander Hartshorn.

The history of the area is preserved by historical markers at Fort Cox, Fort Slocum, Fort Hill, and the Ashippum Post Office. Fort Cox was constructed in 1862 during the Sioux Indian uprising. Just west of Madelia is a historical marker erected where the Younger brothers, members of the Jesse James gang, were captured shortly after the Northfield bank robbery.