You can do this with the sudo
-K
or -k
options:
-K, --remove-timestamp
Similar to the -k option, except that it removes the user's cached credentials entirely and may not be used in conjunction with a command or other option. This option does not require a password. Not all security policies support credential caching.
-k, --reset-timestamp
When used without a command, invalidates the user's cached credentials. In other words, the next time sudo is run a password will be required. This option does not require a password and was added to allow a user to revoke sudo permissions from a .logout file.
When used in conjunction with a command or an option that may require a password, this option will cause sudo to ignore the user's cached credentials. As a result, sudo will prompt for a password (if one is required by the security policy) and will not update the user's cached credentials.
Not all security policies support credential caching.