A prosthetic heart valve is radially collapsible to a collapsed configuration and radially expandable to an expanded configuration. The heart valve includes an annular inner frame formed with a plurality of angled first strut members, the inner frame being configured to foreshorten from a first length corresponding to the collapsed configuration to a second length corresponding to the expanded configuration. A leaflet structure is situated at least partially within the inner frame. An outer frame is disposed radially outward of the inner frame and coupled to the inner frame. The outer frame is configured to collapse with the inner frame and radially expand with the inner frame, and includes a plurality of second strut members. Portions of the second strut members are configured to bend radially outwardly into a curved shape as the inner frame and the outer frame move from the collapsed configuration to the expanded configuration.