Celcius Coffee staff shared their excitement over the visit from the superstar - who had a soy flat white - on Facebook two hours ago.
"Madonna, yes Madonna has just been in to our coffee shop here in Motueka and had a soy flat white."
The superstar is said to have arrived in a "flash four wheel drive" with tinted windows.
"She came in, with four men with her. One ordered her coffee for her ... Wowsers ... Celcius Coffee Motueka! World Famous!"
A staff member wrote on Facebook that they didn't get a photo of Madonna, because they didn't want to "make a big deal in front of her ... Regretting that now!"
They said they were "buzzing" after the experience.
Meanwhile, Madonna has gone to extremes to promote her upcoming New Zealand shows: she's posted a photo of herself posing topless with a horse.
The pop megastar is currently in town ahead of two shows at Vector Arena on Saturday and Sunday nights, her first performances here in a career spanning four decades.
The shows are yet to sell out, but her latest tweet is bound to cause attention.
In it, the Like a Virgin singer posted a photo on Twitter of herself posing raunchily in front of a horse, and tells fans to "Giddy up".
The snap, showcasing Madonna's toned back, had one fan calling her the "queen of back muscles".
Around 170 crew are in town for Madonna's shows, who will perform on a huge crucifix stage set up at the venue.
She has a full band, 20 back-up dancers, and will perform 23 songs, according to reports about the show.
She's rumoured to be staying at the Pullman Hotel, but has kept a low profile since arriving in the country earlier this week.
A private Cessna Citation CJ4 (twin-jet) spotted in Nelson yesterday has possibly flown Madge on a whirlwind tour of New Zealand.
The jet flew from Auckland to Taupo then on to Wellington on Tuesday, before heading to Nelson, then Wanaka.
Meanwhile, Madonna's crew have been happily snapping their adventures in New Zealand, including horse-riding on Pakiri Beach north of Auckland, wine-tasting on Waiheke Island, cocktail-sipping in the city, and Tolkien role-playing in Hobbiton.
Dancer and the Material Girl's personal trainer, Marlyn Ortiz, posted photos on Instagram of herself and make-up artist Tiffany Saxby on the ferry to Waiheke Island, and a series of snaps wine tasting at Te Motu and Cable Bay vineyards.
"Cheers to life and blessings!" she posted in one image of their full wineglasses at Cable Bay overlooking a sunny island view.
