Madonna and her children were in the America at the time of the break-in, after the death of her grandmother.
Grzegorz Matlok, 29, of no fixed address in the UK, was arrested on Saturday morning in central London and charged with burglary on Sunday.
He was due to attend a London court on Monday.
Madonna's maternal grandmother, Elsie Mae Fortin, died on Wednesday in Bay City, Michigan, aged 99. (Reuters)