The actor was swimming with his 8-year-old daughter in Costa Rica when surfers nearby noticed the pair struggling in the water.

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, who played Theo Huxtable on "The Cosby Show," has died at 54, with Bill Cosby reflecting on their relationship and Warner's professionalism on set.