Abstract We present the results of a series of 3D special relativistic hydrodynamic simulations of a gamma-ray burst (GRB) jet in a massive circumstellar medium (CSM) surrounding the progenitor star. Our simulations reproduce the jet morphology transitioning from a well-collimated state to a thermal pressure-driven state for a range of CSM masses and outer radii. The jet–CSM interaction redistributes the jet energy to materials expanding into a wide solid angle and results in a quasi-spherical ejecta with four-velocities from $\Gamma \beta \simeq 0.1$ to 10. The mass and kinetic energy of the ejecta with velocities faster than $0.1c$ are typically of the order of $0.1\, M_{\odot }$ and $10^{51}\:\mbox{erg}$ with only a weak dependence on the CSM mass and radius for the explored CSM parameter ranges. We find that the numerically obtained density structure of the mildly relativistic ejecta is remarkably universal. The radial density profile is well approximated as a power-law function of the radial velocity with an index of $-5$, $\rho \propto v^{-5}$, in agreement with our previous simulations and other studies, as well as those suggested from recent studies on early-phase spectra of supernovae associated with GRBs. Such fast ejecta rapidly becomes transparent following its expansion. Gradually releasing the trapped thermal photons, the ejecta gives rise to bright UV–optical emission within ${\sim} 1\:$d. We discuss the potential link of the relativistic ejecta resulting from jet–CSM interaction to GRB-associated supernovae as well as fast and blue optical transients.