Delivery devices, systems, and methods for delivering an implantable leadless pacing device having an outer peripheral surface are disclosed. An example delivery device may include a proximal section including a distal end, and a distal holding section extending distally of a distal end of the proximal section. The distal holding section defines a cavity therein for receiving the implantable leadless pacing device, and may be configured to apply a holding force to the implantable leadless pacing device. In some cases, the distal holding section may be configured to apply a compressive force to the outer peripheral surface of the leadless pacing device when the leadless pacing device is disposed in the cavity.