This disclosure is directed to a three-dimensional antenna that may be used for an implantable medical device (IMD). The antenna includes a first antenna portion that includes a plurality of segments arranged substantially parallel to one another in a first plane. The antenna further includes a second antenna portion that includes a plurality of segments arranged substantially parallel to one another in a second plane that is substantially parallel to the first plane. The antenna further includes a third antenna portion that includes a plurality of segments arranged substantially parallel to one another in a third plane. The plurality of segments of the third portion are coupled between segments of the first and second portions. The third plane is arranged substantially perpendicular to the first plane and the second plane.