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.

Warner’s follow-up to Jeremiah saw him heading back to sitcom territory, this time as a sidekick to none other than former Seinfeld cast member Jason Alexander. Listen Up was the George Costanza actor’s second attempt to lead his own comedy after the hit NBC series ended, and starred him as sports commentator and family man, Tony Kleinman.

Malcolm-Jamal Warner, best known for playing Theo Huxtable on NBC’s The Cosby Show, has died. He was 54. The actor and director died Sunday in an accidental drowning off the coast of Costa Rica, according to ABC News, with the Costa Rican National Police noting that Warner died from asphyxia.