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.

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.

A cause of death for actor Malcolm-Jamal Warner has been determined. The former "Cosby Show" star died July 20 at age 54 as a result of drowning off the coast of Costa Rica, according to a July 21 statement released by Costa Rica’s Judicial Investigation Agency (OIJ) that was translated from Spanish to English.

Coroner Grant Davies reportedly said that police "have deemed" Roche's death "as non-suspicious and there was no third-party involvement"

Rosie Roche - the granddaughter of Princess Diana’s uncle - was found dead by her mum and sister at her home in Wiltshire and the 20-year-old’s official cause of death has been revealed

Prince William and Prince Harry’s 20-year-old cousin died of “traumatic head injury,” according to a coroner’s report. Rosie Roche, a second cousin to the heir to the British throne, was found dead on July 14 at her home in Norton,

After Rosie Roch, a cousin to Prince William and Prince Harry, died at her home in Norton on July 14, a coroner has confirmed the 20-year-old’s official cause of death.

A cause of death has been released for 18-year-old Cincinnati football player Jeremiah Kelly, following his sudden death at his home on April 22