A shaft of an interventional medical system catheter has a distal end formed by opposing elastically deformable retention features that protrude into a lumen of the shaft, and that define an expandable distal opening of the lumen. The retention features secure an implantable medical device to the catheter by an interlocking engagement within a gap defined by a necked-in portion of a device holding member. Each retention feature includes a distal-facing surface defining the distal opening, and, when an elongate release member of the catheter, which extends within the shaft lumen, applies a push force against proximal-facing surfaces of the features, the distal opening expands from a constricted to an open configuration, wherein the open configuration allows passage of the device holding member through the distal opening, and the constricted configuration allows for the interlocking engagement with the device.