The pop superstar has adopted four children from Malawi over the years - most recently in February, when she welcomed twin girls named Esther and Stella.
Seeing as he's also from the African country, Daliso couldn't resist making a gag about her situation on BGT.
During his live semi-final performance, he said: "The most common question I get is, 'You're from where?'
"It's Malawi, and if any of you don't know where that is, it's where Madonna adopted all the babies from. I do miss my little brother!"
The gag was met with roars of applause from the audience - but it turns out he wasn't given free reign to use it.
Speaking to the Metro, Daliso revealed that BGT producers approached Madonna's representatives for clearance before allowing him to include the joke in his routine.
"They had to check that joke with Madonna’s people, to see if it was OK," he said.
"I don’t know if it gets to Madonna, but they were like 'yeah, that’s fine'. I just think it’s wonderful that there’s someone in the office whose job it is to decide whether jokes are OK or not."
Daliso has quickly proven one of the most successful acts from this year's series of the ITV talent contest.
Demand for tickets proved so high that he later added a further twenty dates to its schedule.