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.

Police told ABC News on Tuesday that an autopsy on Warner has been completed. The Forensic Pathology Department said that the autopsy confirmed that Warner's death, which was described as asphyxiation by submersion, was accidental.

Warner's body arrived in San Joaquin de Flores on Monday at 4:30 p.m. local time. An autopsy was performed and completed on Tuesday.

This is a developing story. Please check back for updates.