Madueke struck as Chelsea fought back from 2-0 down, but had a winner denied by VAR late on.
At the final whistle, Madueke had to be dragged away by teammates from confronting ref Craig Pawson.
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After the VAR check, Pawson ruled that Benoit Badiashile had pushed Villa defender Diego Carlos in the lead-up to Axel Disasi's strike.
After the final whistle, Madueke stormed up to Pawson to make his feelings known before being dragged away by teammates and assistant coach Jesus Perez.
Madueke could be heard saying, "...it's wrong, you know it's wrong. You know it. You know it!" while pointing at Pawson.