Madsen signed with the Pittsburgh Steelers in 2013 as an undrafted free agent. The 6-foot-3, 310-pounder spent three weeks last season on Green Bay's practice squad and the former West Virginia standout also played for the Los Angeles KISS in the Arena League.
Ekpre-Olomu was drafted in the seventh round by Cleveland. The Oregon star was projected to be a first-round pick before suffering a serious knee injury in December.
The Browns took Telfer in the sixth round from Southern Cal. He dealt with an assortment of injuries as a senior.
Also, the team placed defensive lineman Tory Slater on the active/physically-unable-to-perform list.
Cleveland's rookies reported to training camp Wednesday.