Set the parent_slug property to null, example;
add_submenu_page(
null, // -> Set to null - will hide menu link
'Page Title', // -> Page Title
'Menu Title', // -> Title that would otherwise appear in the menu
'administrator', // -> Capability level
'menu_handle', // -> Still accessible via admin.php?page=menu_handle
'page_callback' // -> To render the page
);
This will hide the sub menu page from your parent (top level) menu link.
That’s it. If you have any query then comment here.