An implantable medical device ("IMD") configured in accordance with an example embodiment of the invention generally includes a housing, a connector header block coupled to the housing, a dielectric sheath located around at least a portion of the housing and/or around at least a portion of the header block, and a telemetry antenna located within the dielectric sheath. The antenna is configured to support far field telemetry with an external device such as a programmer. In one example embodiment, the antenna is configured as a balanced antenna having two separate antenna elements driven 180 degrees out of phase. Each of the antenna elements has a feed point on a perimeter edge of the IMD housing and a floating endpoint. A number of alternate embodiments are also provided.