An aviation department worker said Madonna's jet landed at the Kamuzu International Airport in the country's capital, Lilongwe, early on Monday. It was not clear if she came with her children.
The aviation worker spoke on condition of anonymity, because he did not have permission to speak to the press.
The singer has previously stayed at the exclusive Kumbali Lodge in Lilongwe, and an employee there says all other guests were checked out.
Madonna adopted two children from Malawi.
She promised the court she would bring her adopted children twice "every two or three years".
