I'd like to clarify, do you mean to delete the old invoices and use the same invoice no. to the new ones? If so, you'll want to edit the Invoice no. field when you create a new invoice. Doing this will prompt you to reuse the same number. Note: The action will also reset your invoice numbers.
Here's a sample screenshot to see what the prompt looks like:
If you still want to delete your old invoices, you can follow these steps:
Go to Sales > Invoices.
Put a check mark on the invoices you want to remove.
Click the Batch actions drop-down menu, and select Delete.
Hit Yes when you get a prompt to confirm.
Please see this sample screenshot for a visual reference: