Seam bowler Malinga was forced to withdraw from the global tournament after dislocating his shoulder during the second T20I against England last week.
He clutched his non-bowling shoulder after releasing the delivery, fell to the floor during his follow-through, and after a scan was ruled out.
Madushan has only played eight T20Is since making his debut in 2022, taking 12 wickets at an economy-rate of just more that eight runs to the over.
After the clash against Ireland in Colombo on Sunday, co-hosts Sri Lanka have further group matches against Oman, Australia, and Zimbabwe in a bid to qualify for the Super Eights.