A cardiac rhythm management (CRM) system includes an implantable medical device that delivers anti-tachyarrhythmia therapies including anti-tachyarrhythmia pacing (ATP) and a hemodynamic sensor that senses a hemodynamic signal. The implantable medical device includes a hemodynamic sensor-controlled closed-loop ATP system that uses the hemodynamic signal for ATP capture verification. When ATP pulses are delivered according to a selected ATP protocol to terminate a tachyarrhythmia episode, the implantable medical device performs the ATP capture verification by detecting an effective cardiac contraction from the hemodynamic signal. The ATP protocol is adjusted using an outcome of the ATP capture verification.