Grzegorz Matlok, 29, was wrestled to the ground by bodyguards at the 52-year-old star's $16 million, 10-bedroom mansion in London's Marylebone area early Saturday morning after being found clutching several of the "Material Girl" hitmaker's possessions.
"Something dreadful has happened here. The security around the world's most famous pop star should be impregnable," contactmusic.com quoted a police official as saying.
Matlok was charged with burglary and was due to appear before magistrates in Westminster.
At the time of the break-in, Madonna was in Bay City, Michigan, paying respects to her late 99-year-old grandmother, who helped raise her and her five siblings after their mother died of breast cancer when Madonna was just five.
This is not the first time the pop superstar has been plagued by a stalker. In September 2010, retired fire-fighter Robert Linhart was charged with criminal mischief.