Credentials can only be deleted if they are not being used by a configuration. Within the Credentials table you can see if it is being used and by what in the Use By column. If a credential is not being used by a configuration:
Find the credential you want to delete.
Select the action menu (Ellipses).
Select Delete.
This will open a modal for you to confirm you want to delete this credential.
If you delete the wrong credential it cannot be undone but you can create it again as a new credential.