Actor and director Malcolm-Jamal Warner, best known for his role on "The Cosby Show," has died in an accidental drowning in Costa Rica, where he was vacationing with his family, officials there said. He was 54.

Police reported that nearby surfers rescued the daughter of Malcolm-Jamal Warner, who tragically drowned in Costa Rica Sunday.

The beloved actor died at 54 while on vacation with his family in Costa Rica. Learn more about his sudden passing and cause of death here.