An element $\bar x\in\mathbb Z/p^k\mathbb Z$ is invertible (with respect to multiplication) if and only if its representant $x\in\mathbb Z$ is coprime to $p^k$. Since $p$ is a prime, coprimality to $p^k$ is equivalent to coprimality to $p$. Hence the numbers in $\{0,\dots,p^k-1\}$ that are not representants of invertible elements in $\mathbb Z/p^k\mathbb Z$ are exactly those that are multiples of $p$, namely $0,p,2p,\dots,(p^{k-1}-2)p, (p^{k-1}-1)p$ — these are $p^{k-1}$ elements. Therefore, the order of $(\mathbb Z/p^k\mathbb Z)^\ast$ is $p^k-p^{k-1}=(p-1)p^{k-1}$. As a consequence to Lagrange's theorem, a group's exponent must divide its order, which yields the claim.