Good Samaritans tried to rescue Malcolm-Jamal Warner after he accidentally drowned but it was too late.

“The Cosby Show” actor died on Sunday, July 20, at age 54, while on vacation in Costa Rica with his family.

Costa Rican National Police told The Post that Warner was pulled from the water by people in the area and taken to shore, where they desperately attempted to save his life.

New details have now emerged about Warner’s final moments, with Judicial Investigation Agency (OIJ) sharing additional information about their efforts.

“The victim appears to have entered the sea and was apparently swept away by a current. The man was rescued by bystanders and taken to shore, where he received treatment from the Costa Rican Red Cross. However, he was declared lifeless at the scene,” the OIJ confirmed to People.

The actor’s body was taken to the morgue at San Joaquin de Flores for an autopsy, with his cause of death listed as asphyxiation by “submersion,” the Costa Rican National Police shared on Monday, July 21.

Warner played the beloved character Theodore “Theo” Huxtable, the son of Bill Cosby’s Cliff Huxtable, in “The Cosby Show” from 1984 to 1992.

The role landed him an 1986 Emmy nomination for Outstanding Supporting Actor in a Comedy Series.

Warner was joined on the screen by the rest of his Huxtable TV family, which included Phylicia Rashad (Clair), Sabrina Le Beauf (Sondra), Lisa Bonet (Denise), Tempestt Bledsoe (Vanessa) and Keshia Knight Pulliam (Rudy).

The star didn’t audition for the role of Theo until the final day of the comedy’s nationwide search and was handpicked by Cosby himself, per Variety.

Warner spoke to The Post exclusively about “The Cosby Show” legacy in April 2021, just two months before Cosby’s sexual assault conviction was overturned.

“I can understand why some people can’t watch the show and enjoy it because of everything that’s going on now,” Warner said.

He confessed that the lasting impression “The Cosby Show” had in TV history was undeniable.

“But I think…there’s a generation of young people who have pursued higher education or have started loving families because of the influence of that show. So it’s kind of like, you can’t discount its impact on television culture and American culture,” he explained.

Warner continued to act for decades to come after the series ended in 1992.

He went on to voice The Producer in “The Magic School Bus” from 1994 to 1997. However, his next major role came in 1996 when he was cast as Malcolm McGee in “Malcolm & Eddie.”

Warner starred in all 89 episodes alongside Eddie Griffin until the sitcom went off the air in 2000.

Griffin, 57, broke his silence on Warner’s death just hours after the news broke.

“My Heart is heavy today,” the actor captioned a photo of his former co-star on Instagram.

“For what the world lost was a Father a Son a Poet a Musician a Actor a Teacher a Writer a Director a Friend a Warrior that I had the pleasure of going to war with against the Hollywood machine and sometimes with each other because that’s what Brothers do but the Love was and is always there ,” he continued.

Griffin concluded, “You’ve taught me so much and I thank you  Rest Well My Big little Brother .”

Warner’s “Reed Between the Lines” co-star Tracee Ellis Ross also addressed his unexpected passing.

The pair played husband and wife on the short-lived sitcom, which only saw two seasons between 2011 and 2015.

“I love you, Malcolm. First I met you as Theo with the rest of the world then you were my first TV husband. My heart is so so sad,” Ross shared.

“What an actor and friend you were: warm, gentle, present, kind, thoughtful, deep, funny, elegant. You made the world a brighter place,” she wrote. “Sending so much love to your family. I’m so sorry for this unimaginable loss.”

In 2018, Warner joined “The Resident” as Dr. AJ Austin, whom he played until 2023.

Some of his other credits included “American Horror Story: Freak Show,” “American Crime Story,” “Suits,” “9-1-1,” “Community,” “Sons of Anarchy,” “Here and Now” and “The Fresh Prince of Bel-Air.”

Warner is survived by his wife and daughter, whom he chose to keep private.