The TV presenter was sent home after receiving the fewest amount of viewer votes for her self-created Dirty Dancing homage and a repeat performance of her Bollywood-inspired 'Kiss Kiss' routine from week six's 'World Tour'.
Madeley finished bottom of the leaderboard after tonight's initial two dances, notching up a total of 54 points to Laura Hamilton's 56 and Sam Attwater's 58. Her rivals both received at least two 10s from judges, with Hamilton scoring a perfect 30 for her Pointer Sisters tribute.
Speaking after the result, Madeley stated: "I'm just on cloud nine, I'm so thrilled that we got to the final."
After declaring her fondness for professional partner Michael Zenezini, she added: "Hopefully we'll get to do his bolero on tour because it is a treat.
"This has been the most incredible fun, and to everyone who's going to do it next year I'm going to be so jealous. This is the best experience I've ever had."
The show's three judges and the contestants' mentors Jayne Torvill and Christopher Dean variously praised Madeley throughout the night for maturing as a skater and a person within the competition.
"You light the ice up," Emma Bunton commented after her first routine, adding later: "I have loved watching you progress, I feel like we've watched this woman [appear] before our eyes, and you've come the furthest for me."
Attwater and Hamilton will now skate Torvill and Dean's legendary bolero routine in an attempt to land the Dancing On Ice trophy.