Sketch (using that the column and row ranks are the same):
Since the rank of $A$ is $r$, there are $r$ independent columns in $A$. Consider the submatrix $B$ of $A$ formed by those $r$ columns. Then, the rank of $B$ is $r$ because the columns of $B$ are independent. Then, since the dimension of the row space of $B$ is $r$, there are $r$ independent rows. Form the submatrix $C$ by using those rows. This is an $r\times r$ submatrix which is nonsingular.
If there were a larger invertible submatrix $D$, then the columns of $A$ that include the columns of $D$ must be independent. This means that the rank of $A$ is larger than $r$, which is impossible.