"The grace she has, I don't think I have seen in any other actress. She is a legendary artist," said the 53-year-old who was paired with her in Khalnayak and 100 Days.
"She (Madhuri) is just like the (late) legendary actress Madhubala, whom people liked a lot. She is a very beautiful dancer and has a beautiful smile," he added.
Jackie and Madhuri also featured together in the cast of films like Ram Lakhan, Tridev, Parinda, Sangeet, and Devdas.
Recalling one of the scenes from Subhash Ghai directed 1989 hit Ram Lakhan, Jackie said, "In Ram Lakhan, she played my 'bhabhi' (sister-in-law) and she performed very beautifully on the song 'O Ram ji'."
Madhuri was paired with Anil Kapoor, who played Jackie's younger brother, in the movie.
"It was a difficult shot... In the song, I was sitting there and Anil ji's girlfriend and my bhabhi (Madhuri) had to sing the song Ram ji," he added.