Malcolm-Jamal Warner died at 54, with his official cause of death now being revealed. The actor was on a family vacation in Costa Rica when he died from an accidental drowning, the Judicial Investigation Agency (OIJ) confirmed to PEOPLE.

Malcolm-Jamal Warner's cause of death has been released by police. The actor, who is best known for his role as Theo Huxtable in the hit TV sitcom "The Cosby Show," died on Sunday off the coast of Costa Rica after a drowning, Costa Rican National Police told ABC News. He was 54.

The beloved actor died at 54 while on vacation with his family in Costa Rica. Learn more about his sudden passing and cause of death here.

A cause of death for actor Malcolm-Jamal Warner has been determined. The former "Cosby Show" star died July 20 at age 54 as a result of drowning off the coast of Costa Rica, according to a July 21 statement released by Costa Rica’s Judicial Investigation Agency (OIJ) that was translated from Spanish to English.

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