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

Malcolm-Jamal Warner played Theo Huxtable for all eight seasons of “The Cosby Show,” which ran from 1985-1992, receiving an Emmy nomination for the role. Warner also starred with Eddie Griffin in the 1996-2000 sitcom “Malcolm & Eddie,” and as Dr. Alex Reed in the BET sitcom “Reed Between the Lines.” He also appeared in guest roles on dozens of television shows over the years.

Born Aug. 18, 1970, Warner caught the acting bug early in life and attended and graduated from The Professional Children’s School in New York City. He made his first television appearance in an episode of the TV series “Matt Houston” in 1982 and also appeared in the “Fame” television series the following year. In 1984, he landed his role in “The Cosby Show” alongside Bill Cosby, Phylicia Rashad, Lisa Bonet and more.