Alfonso Ribeiro, who played Will Smith's preppy cousin Carlton on TV's "The Fresh Prince of Bel-Air," is splitting from his wife of four years.

Ribeiro, 34, filed for divorce from Robin Ribeiro on Wednesday, citing irreconcilable differences, according to Superior Court documents.

He is seeking joint custody of the couple's 3-year-old daughter Sienna, with physical custody going to the child's mother. He intends to maintain visitation rights.

The actor also appeared on the TV series "Silver Spoons."