The Bluebirds boss was unhappy with the performance of the officials in Saturday's 3-2 loss at Watford, believing Madley should have shown Hornets' skipper Troy Deeney a second yellow card when he collided with goalkeeper Neil Etheridge during the second-half.
Madley was taking charge of his first Premier League game of the season and Warnock felt a more experienced referee would have made the right call, voicing his frustration about the 35-year-old official after the match.
"I cannot understand why we had Andre Marriner as the fourth official, and a referee who has not refereed a game all season [as the ref]," Warnock told BBC Sport.
"Unless it's because we are Cardiff and they say we can have a trainee or somebody? Troy should have been booked. I don't understand why we have to be the experimental side. Is it because they feel sorry for us? Or feel we are not important?
"You cannot tell me Marriner would not have give Deeney a card of some sort. It was a terrible tackle."
Warnock could now face FA sanctions as a result of his outburst with the governing body having now asked him to justify why he felt the need to criticise the officials.