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.

Journalist and professor Candace Kelley, who hosted the Not All Hood (NAH) podcast with the late 'Cosby Show' actor, opens up to PEOPLE about her memories of Malcolm-Jamal Warner, calling him a man who was hilarious,

The actor made famous by playing Theo Huxtable in "The Cosby Show" died this weekend in an accident in Costa Rica.

Malcolm-Jamal Warner was notoriously private about his personal life in recent years, but that wasn’t always the case. The actor, who tragically died from an accidental drowning during a family vacation to Costa Rica on July 20, had several high-profile romances with actress girlfriends before settling down to become a family man.

Malcolm-Jamal Warner's friend Candace Kelley shared touching memories, rare family insights and their mission to spotlight untold Black stories

Anthony Mackie recalls Malcolm-Jamal Warner's reaction after he sported Theo Huxtable's Gordon Gartrell shirt from "The Cosby Show" on "The Tonight Show."

The death of Malcolm-Jamal Warner was mourned by fans and admirers of the actor. He played the only son of Bill Cosby’s Cliff Huxtable on the landmark series “The Cosby Show” from 1984 to 1992.