You can set the section in toc, subsection in toc templates; something along these lines:
\documentclass{beamer}
\usetheme{Madrid}
\setbeamertemplate{section in toc}{\hspace*{1em}\inserttocsection}
\setbeamertemplate{subsection in toc}{\hspace*{2em}\inserttocsubsection}
\begin{document}
\begin{frame}
\frametitle{Outline}
\tableofcontents
\end{frame}
\section{Test section}
\begin{frame}
test
\end{frame}
\subsection{Test subsection}
\begin{frame}
test
\end{frame}
\end{document}

or simply, if no additional indentation is needed,
\documentclass{beamer}
\usetheme{Madrid}
\setbeamertemplate{sections/subsections in toc}[default]
\begin{document}
\begin{frame}
\frametitle{Outline}
\tableofcontents
\end{frame}
\section{Test section}
\begin{frame}
test
\end{frame}
\subsection{Test subsection}
\begin{frame}
test
\end{frame}
\end{document}

The solutions above will remove both the balls and the section numbering; if only the balls used are to be removed, but keeping the section numbering, you can use the following:
\documentclass{beamer}
\usetheme{Madrid}
\setbeamertemplate{sections/subsections in toc}[sections numbered]
\begin{document}
\begin{frame}
\frametitle{Outline}
\tableofcontents
\end{frame}
\section{Test section}
\begin{frame}
test
\end{frame}
\subsection{Test subsection}
\begin{frame}
test
\end{frame}
\end{document}
