She has often spoken about the good and bad of living in the Playboy Mansion, as well as her relationship with the late magazine publisher.
Hefner passed away at the age of 91 on September 27, 2017.
Madison, now 45, made an appearance on an episode of the In Your Dreams podcast in May and opened up about an act she used to find ‘disgusting’.
Addressing the age gap, she said: “If it was just me and him, it was a lot more normal than you would think.”
But Madison went on to say that she ‘hated’ having group sex with Hefner and other individuals.
She explained: “It’s a very different story between when we were just by ourselves than with everybody else in the room.
“Everybody else in the room, no. That was disgusting. I hated it. I made it very known I hated it.”
While on the podcast, Madison also touched on the mockery and trolling she faced on social media because of her relationship with Hefner.
She said: “There was a time when I couldn’t post anything [on social media] without some dumba** in the comments [being] like, ‘Oh, old balls.’”
Madison then joked: “Maybe some people’s balls do get old and nasty, but I’ve never seen such a thing.”
However, she did go on to say the pair would often keep the lights off and brought up the phrase, ‘all cats are gray in the dark’.
Despite things getting on fine in the bedroom, Madison has also previously reflected on the mental aspect of her relationship with Hefner.
Speaking in hindsight, she noted that she ‘didn’t actually know him that well’ despite doing things she thought were connecting them.
In an interview with the New York Post, the Holly’s World star admitted: “I thought I was connecting with [Hefner], when really I was just somebody who had trouble connecting with people my whole life. And I’d met somebody who was like a master manipulator.”
Looking back, Madison sees herself as ‘somebody who was young and impressionable and just kind of in a fog almost’.