You can go to 'Order Edit' page in admin, hit “Delete Invoice” and then hit “Generate Invoice”. If the “Delete Invoice” button is missing, go to WooCommerce > PDF Invoices > Advanced and tick “Allow admins to delete invoices” to activate it.
When you delete and generate a new invoice, it will come with a new number if you are using internal numbering sequence (instead of order numbers) – keep this in mind and delete invoices at your own risk.