The 63-year-old singer had organised a live chat with her fans on the social media platform when it emerged she was banned for “going against...community guidelines”.
She said: “We’re blocked from live? What’s happening? I’ve never worn so many clothes in my life. I’m speechless.”
She shared the video online, writing: “Not Us!!!! violation community guidelines.....”
It is not the first time she has run foul of the platforms guidelines including one occasion when graphic pictures she posted of herself were removed.
She said at the time the pictures in which she was writhing on top of and under a bed in fishnet tights, a cut-out bra which reveals parts of her breasts, a thong and high-heeled shoes, were removed because they showed “a small portion of my nipple”.
The star said she had “managed to maintain my sanity through four decades of censorship…… sexism……ageism and misogyny.”
Nudity is not allowed on Instagram apart from some exceptions.
Madonna has stirred up controversy with her choices of explicit outfits over the decades.
In the early days of her career she pioneered the “underwear as outerwear” trend by wearing a corset body suit with conical bra cups, designed by Jean Paul Gaultier.
In 2016 she showed she was still happy to cause a stir on the red carpet when she arrived at the Met Gala in a bondage-inspired Givenchy outfit featuring leather, lace, thigh-high boots, a thong and nipple pasties.
Instagram has been contacted for comment.