The RSF has earlier said that paramilitaries had entered Madani, located about 200 kilometers (124) south of Sudan's capital, Khartoum.
"On this great and momentous day, marking the anniversary of the Glorious December Revolution 2019, our valiant forces have achieved yet another historic victory, as they successfully liberated the command of the First Infantry Division and the city of Madani, the capital of Gezira state, from the remnants of the former regime," Dagalo said on X (formerly known as Twitter).
Dagalo added that civilians in the city would remain protected, the administration and functioning of the city and the state would be left to civilian leaders, and the RSF leadership would engage with local authorities for coordination and extended support to maintain security.
The Sudanese armed forces have confirmed that its troops left Madani, saying that they were investigating the causes of this situation.
In April, violent clashes broke out between the Sudanese army and the RSF. The parties to the conflict have since introduced a number of temporary nationwide ceasefires, but none has helped settle the conflict. In late October, the parties resumed negotiations, mediated by Saudi Arabia, but the hostilities in the country continued. In early December, mediators reportedly indefinitely suspended talks between Sudan's army and the RSF.