After throwing on Tuesday and Thursday -- the first time Madson had thrown a bullpen with only one day of rest -- Sunday's bullpen was his third in a six-day span.
Madson threw 15 pitches, sat down to simulate the bridge between warming up and entering a game, then threw 25 more.
"It went good," Madson said. "Still trying to get back into a rhythm."
However, Madson is still weeks away, according to his manager.
"He's got some work to do, but he's getting better," Scioscia said. "He's throwing bullpens now and he's throwing bullpens at 100 percent, which is a great sign. If he continues to do that, I think there is a reasonable timetable of when he can get into a Minor League game."
Scioscia was reluctant to provide any specific dates or timetables, but added that he "sure hopes" Madson is on a Major League mound before the All-Star break.
Madson threw fastballs, changeups and cutters. He expects to throw his next bullpen on either Tuesday or Wednesday.
William Boor is an associate reporter for MLB.com. This story was not subject to the approval of Major League Baseball or its clubs.