A lot of features of VAX and VMS are clearly inherited directly from PDP-11 and RSX-11M.
The main resemblances between VAX and PDP-10 are just that VAX is bigger and more powerful than PDP-11 and it is big enough and fast enough to be an upgrade even for PDP-10 not only from PDP-11.
Nonetheless there is something that VAX has inherited from PDP-10, but not really from the base DEC PDP-10 but from the enhancements that the users of PDP-10 had done to it.
The company BBN (Bolt Beranek and Newman Inc.) had made since 1970 a so-called "BBN Pager" for PDP-10, which was a hardware extension that added a paged memory management unit to PDP-10. They also designed the TENEX operating system for the PDP-10 extended with the BBN Pager. The TENEX operating system is the origin of several very important innovations, like the memory-mapped files, which were later brought to UNIX by 4.2BSD, through SunOS 4.0 and 4.3BSD-Reno. Several of the earliest implementations of some Internet protocols, like Telnet and FTP, were done on computers running TENEX (i.e. extended PDP-10s).
The paged memory management from which VAX got its name (Virtual Address Extension) comes directly from the BBN Pager extension of PDP-10.