Law enforcement tells us … Madsen was arrested in Malibu at 3:55 PM PST … and he was taken to a nearby Sheriff’s Dept.
We’re told police responded to a call about a family dispute at Madsen’s Malibu home.
According to law enforcement — Madsen had gotten into a physical fight with his juvenile son — and when cops arrived, they observed several signs of injury on his son. We’re told Madsen also appeared to be under the influence of alcohol at the time of his arrest.
We’re told his son did not require medical attention.
We’re told Madsen was booked on a charge of child endangerment with cruelty to a child — a felony.
He is currently being held on $ 100,000 bail.
Madsen’s attorney, Perry Wander, tells us “[Michael] found his son smoking pot and they got in an argument when he tried to take it away. It’s a family matter and Michael asks that his families privacy be respected.”