Madison Falls was probably one of the easiest waterfalls for us to visit. But despite its ease of access, this was also one of the prettier waterfalls we had seen during our time touring the Olympic Peninsula in 2011.
A very short paved walk through a lush forest led us from the well-signed car park to a viewing area at the end of the walk. From this vantage point, we were able to see the roughly 40-50ft drop of the falls along with some fallen logs fronting its base. The walk probably took no more than 5 minutes in each direction.
We're not sure about this, but we swore we saw hints of additional tiers above the main visible tier. If this is true, it was mostly obscured by dense vegetation, which was why we couldn't tell for sure.
In addition to Madison Falls, I've also seen this waterfall referred to as Madison Creek Falls.
From Port Angeles, we drove about 8 miles west on US101. The turnoff for Elwha Valley (Olympic Hot Springs Rd) is on the left just before the US101 bridges the Elwha River. Note that given the relatively high volume and speed of traffic on the US101, this can be a tricky spot to be making left turns both onto the Olympic Hot Springs Rd as well as back onto the US101.
Once on Olympic Hot Springs Rd, we followed this road south for another 2 miles. There's a big sign post for the falls' car park on the left.
For context, Port Angeles was 82 miles (or 2.5 hours drive including a ferry ride [so it would take more time than this]) from Seattle.
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