It is reported by Deutsche Welle with reference to the representative of the Vatican.
The mass was held on a field in the suburb of Antananarivo.
In his speech, Francis called for building the modern world on the principles of brotherhood and solidarity and condemned the desire of consumer society for hoarding, which leads to selfishness and the loss of moral guidelines by a person.
He noted that humanity should live in "full respect for the earth and its gifts and not allow any form of exploitation."
Before the visit to Madagascar, the Pope visited Mozambique, and will finish his visit to Africa in Mauritius.
Earlier, the Pope asked reporters to be humble.