We study the critical behavior of excited states and its relation to order and chaos in the Jaynes-Cummings and Dicke models of quantum optics. We show that both models exhibit a chain of excited-state quantum phase transitions demarcating the upper edge of the superradiant phase. For the Dicke model, the signatures of criticality in excited states are blurred by the onset of quantum chaos. We show that the emergence of quantum chaos is caused by the precursors of the excited-state quantum phase transition.