Malcolm-Jamal Warner, played son Theo on The Cosby Show, drowned at 54 on family vacation

Malcolm-Jamal Warner, who played Bill Cosby's son Theo Huxtable on The Cosby Show, accidentally drowned at age 54 while on a family vacation in Costa Rica.

Costa Rican National Police told ABC News that Warner drowned off the coast of Costa Rica on Sunday, with the official cause of death being asphyxia.

Warner died near Cocles, a beach in Limon, Costa Rica, police said, adding that he was caught by a high current in the water and discovered Sunday afternoon.

The actor played Huxtable in all eight seasons of The Cosby Show, from 1985-1992, and received an Emmy nomination for the role.

He also starred with Eddie Griffin in the sitcom Malcolm & Eddie, from 1996-2000, and as Dr. Alex Reed in the BET sitcom Reed Between the Lines.

Recently, Warner starred in the Fox medical drama The Resident for five of the show's six seasons. He also starred in Major Crimes as Chuck Cooper, and as Julius Rowe in Suits.

Warner reportedly leaves behind a wife and daughter, whose names he had not publicly disclosed, citing privacy concerns.