Madrid was born in San Rafael, Antioquia Department, Colombia on 18 April 1914.

Madrid never married nor had children, but she worked as a primary school teacher. Outside the school curriculum, she also taught embroidery to young girls. She also educated a lot of her nieces and nephews. She lived in various places in Antioquia Department, including San Rafael, Girardota, Medellín, and Barbosa. She enjoyed traveling, visiting places such as India, Europe, and USA.

Although she had no children, some of her siblings had over 10 children, resulting in a large family that spanned six generations by the time of her 110th birthday. She reportedly had multiple relatives who died in their 100s.