Malcolm-Jamal Warner, best known as Theo on "The Cosby Show," was vacationing with his wife and daughter in Costa Rica when he drowned.

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.

The actor was swimming with his 8-year-old daughter in Costa Rica when surfers nearby noticed the pair struggling in the water.