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.

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.

Malcolm-Jamal Warner, who starred in The Cosby Show as Theo Huxtable, has died. According to multiple reports, including from CNN and People Monday, Warner died Sunday following an accidental drowning while swimming during a family vacation in Costa Rica. He was 54.

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

Fellow actors and producers of Fox's The Resident paid tribute to series co-star Malcolm-Jamal Warner, who died of an accidental drowning at age 54.

Actor Jaleel White says he always looked up to the late Malcolm-Jamal Warner, who died Sunday at 54: 'At a loss for words.'