Timestamp conversion in postgres SQL

You can do:

select to_timestamp('2022-06-14T13:04:00.610Z','YYYY-MM-DD"T"HH24:MI:SS')

See running example at DB Fiddle.

EDIT

I though you needed to parse the timestamp only. Now I realize you want to format it back to a string. You can add to_char() to format it as needed.

For example:

select
  to_char(
    to_timestamp('2022-06-14T13:04:00.610Z','YYYY-MM-DD"T"HH24:MI:SS'),
    'YYYY-MM-DD HH24:MI:SS'
  );

See updated fiddle.

you can use built in timestamo conversion

SELECT timestamp '2022-06-14T13:04:00.610Z'

| timestamp              |
| :--------------------- |
| 2022-06-14 13:04:00.61 |

SELECT '2022-06-14T13:04:00.610Z'::timestamp 

| timestamp              |
| :--------------------- |
| 2022-06-14 13:04:00.61 |

db<>fiddle here

You can use date_trunc

SELECT date_trunc('second',timestamp '2022-06-14T13:04:00.610Z')

| date_trunc          |
| :------------------ |
| 2022-06-14 13:04:00 |

SELECT date_trunc('second','2022-06-14T13:04:00.610Z'::timestamp) 

| date_trunc          |
| :------------------ |
| 2022-06-14 13:04:00 |

db<>fiddle here