You can open the Audit Log report to see the data of the deleted invoice. Then use this as a reference when recreating it, since the option to restore it is currently unavailable in QuickBooks Online (QBO).
Click the Gear icon at the upper right to get to the Audit Log.
Tick on the Filter option then set the date range to when the invoice was deleted.
On the Events section, place a checkmark on Transactions.
In the Show drop-down, choose Deleted /Voided transactions and hit Apply.
Once done, select View on the deleted invoice under History column.
After that, here's how to recreate it:
Go to the Plus icon to create an Invoice.
Enter the necessary information based on the deleted one.