You can delete payments from a batch individually as long as the batch itself is In Checking or In Work. Also a payment cannot be deleted if it has already been marked as Successful, Failed or Pending. If you would like to remove a payment record after the batch has been approved see Reverse Payments.
To reverse the payment right click and select either Delete Payment or Delete Payments (Selection).
Select Yes to confirm delete.
Note if the payment is for an Auto Renewing Membership you will also be prompted to Unset the Automatic Renewal status of that membership.