It was a largely turgid encounter lacking in any attacking quality or excitement from both sides, with Arsenal having to wait until the 80th minute for their first shot on target.
That came via what proved to be the winner, as Madueke cut inside and beat Matz Sels to move the Gunners back to within three points of Manchester City at the top of the table.
Matt Verri rated the Arsenal players at the City Ground...
David Raya 7
Confidently dealt with every corner or cross that Forest swung into the box. Also played some superb long passes forward to launch attacks. Fourth clean sheet in seven league matches.
Ben White 5
Uncharacteristically loose when he got into dangerous positions in the final third, shanking one cross straight out. Solid defensively but the usual combinations with Bukayo Saka and Martin Odegaard were nowhere to be seen.
Solid: Ezri Konsa
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Ezri Konsa 8
A rare positive in the first half, dealing well with Delap and quickly recovering from a knock to then make a good block. Showed great pace in the final minute to charge back and slide in, deflecting Delap’s effort wide.
Defended one break from Ndoye superbly and was really strong when left isolated at the back. Wasted a good opportunity with a header from a corner. Made six clearances - no other Arsenal player made more than one.
Riccardo Calafiori 5
No influence in attack and his sloppy pass in the first half led to a threatening Forest counter. Relationship with either Eze or Madueke on the left does not look particularly natural. Very quiet.
Frustrated: Bukayo Saka
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Declan Rice 7
Created the best early chance with a great cross for Havertz, though it was a really poor effort when blazing over on 70 minutes. Rescued Arsenal in the closing stages with a sensational block to deny Wood.
Bruno Guimaraes 6
Continues to make more of an impact as a substitute than a starter. However, he still offered real bite in midfield, winning eight of his ten duels. Intent to play forward was there but did not really come off.
Bukayo Saka 5
Got Williams booked early on but then did not do enough to test him. His delivery was good, on the whole, including from corners, but from open play the threat was lacking. Did not have a sniff of goal.
Martin Odegaard 6
Chance missed: Eberechi Eze
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Frustrating how often he dropped deep. Added to the slow, safe nature of Arsenal’s build-up, though he wasn’t helped by a lack of movement. Moment of magic to open up Forest defence was wasted by Rice.
Miserable performance. Lacked intensity with everything he did and kept making basic errors on the ball. No shots, no chances created and no successful dribbles. Hooked at half-time.
Kai Havertz 4
Bad miss when the one first-half chance did come, heading wide from a free-kick. Fired wide from a tight angle as well but otherwise anonymous. Gave away needless free-kick just outside the area for a handball, too.
Substitutes:
Noni Madueke (Eze 46’) 8
Saved the day for Arsenal. Far more direct in his running and made the decisive impact when lashing in a deflected strike. Massive moment for him.
Jurrien Timber (White 66’) 7
Almost an immediate impact when making a great run in behind and cutting back perfectly for Rice. Added real impetus to the right wing.
Mikel Merino (Guimaraes 66’) 6
One effort blocked from the edge of the area. Ideal player to provide some calm in a tight match late on.
Viktor Gyokeres (Havertz 66’) 6
Improved cameo. He was a nuisance for the Forest defenders, making runs in behind and holding the ball up.