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.

In a press release sent to Newsweek, Costa Rica's Judicial Investigation Department said Warner died near Cocles, a beach in Limon, Costa Rica. Despite bystanders pulling him to shore, where he received medical attention, he was declared dead by the Costa Rican Red Cross.