Malcolm-Jamal Warner, the actor perhaps best known for starring in the TV sitcom "The Cosby Show" as son Theodore "Theo" Huxtable, has died at 54. Warner drowned off the coast of Costa Rica on Sunday, Costa Rican National Police told ABC News. Warner's official cause of death was asphyxia, police said.

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.