Authorities have confirmed the official cause of death for Malcolm-Jamal Warner, who died Sunday in Costa Rica while swimming at Playa Grande in Cahuita, a village in the province of Limón. Warner, who famously played Theodore Huxtable on “ The Cosby Show ,” was 54.

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.

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.