Embodiments of the invention provide a removal tool for atraumatically removing a hearing device inserted deeply in the ear canal of a user. The removal tool comprises a shaft adapted to be grasp in the hand and a plurality of hooks or other attachment elements coupled to a first end of the shaft. The hooks have a shape and orientation configured to minimize injurious contact with the walls of the ear canal when the removal tool is inserted into the ear canal. The hooks are also configured to detachably engage a loop structure or other attachment system of the hearing device for removal of the device independent of a radial orientation of the shaft with respect to the hearing device. The hooks can also be configured to engage the loop structure in two or more planes for removal of the hearing device. Also, the hooks can be configured to engage the loop structure so as to exert minimal axial force on the hearing device in a medial direction.