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.

If you grew up watching "The Cosby Show," you probably remember Elizabeth Scott. She played Kara, a best friend of Vanessa Huxtable. Scott says she got to know Malcolm-Jamal Warner when she auditioned for the show.