Madonna has revealed that she worries about being an "irresponsible parent" to her children Lourdes, 15, Rocco, 12, David and Mercy, both seven.

Madonna worries about being an "irresponsible parent".

The 54-year-old singer revealed she pulled out of the Australian leg of her MDNA tour last month as her children Lourdes, 15, Rocco, 12, David and Mercy, both seven, are her "first priority" and it would be unfair to them if she was so far away.

In a YouTube video apology to her Australian fans, Madonna said: "I am really and truly sorry to have disappointed you and that's something I don't feel very good about.

"I know the last time I was on tour I missed Australia as well.

"My children are my first priority and because they are older I can't take them with me on the road everywhere.

"I really feel I would be an irresponsible parent if I didn't stop my tour and spent time with them. My daughter is going to be leaving home soon."

Madonna finished her recorded message by promising to put on the concert of a lifetime when she finally does make it to the country.

She said: "Please forgive me and know when I do come to Australia I will have made the wait worth your while and I will put on the greatest show on earth."