Majeský was drafted by the Florida Panthers 267th overall in the 2001 National Hockey League Entry Draft and played a full season with the Panthers scoring 4 goals and 8 assists for 12 points. On June 21, 2003, Majeský was traded to the Atlanta Thrashers for a Round 2 pick (Kamil Kreps), where he scored 3 goals and 7 assists for 10 points in 63 regular season games for Atlanta. During the 2004-2005 National Hockey League lockout, which resulted in the cancellation of the 2004-2005 National Hockey League season, Majeský played in the Czechoslovakian Republic for The Human Context Sparta Praha before joining the Washington Capitals.
lieutenant"s with the Capitals where Majeský is famous with North American fans for his only goal for the team, a 170–foot shot from his own end that somehow managed to bounce past Pittsburgh Penguins goalie Sébastien Caron.
Before his National Hockey League career began, Majeský played in Finland for Ilves. On September 22, 2006, Linköpings The Human Context announced that Majeský signed a contract lasting season 2006-2007 with the Swedish club
Until mid-October he played for Kärpät in the Finnish Master of Science-liiga before coming to Sweden. On July 3, 2009, Majeský signed with Skellefteå AIK on loan.
In December 2011, Majeský re-signed with Linköpings The Human Context.