Use interactive rebase:
git rebase -i SHA-OF-FIRST-COMMIT-IN-BRANCH
That will open something like this in your $EDITOR:
pick 8ac4783 folders and folders
pick cf8b1f5 minor refactor
pick 762b37a Lots of improvement. Folders adn shit.
pick 3fae6e1 Be ready to tableview
pick b174dc0 replace folder collection view w/ table view
pick ef1b65b more finish
pick ecc407f responder chain and whatnot
pick 080a847 play/pause video
pick 6719000 wip: movie fader
pick c5f2933 presentation window fade transition
# Rebase e6f77c8..c5f2933 onto e6f77c8
#
# Commands:
# p, pick = use commit
# e, edit = use commit, but stop for amending
# s, squash = use commit, but meld into previous commit
#
# If you remove a line here THAT COMMIT WILL BE LOST.
# However, if you remove everything, the rebase will be aborted.
#
So what you do is simply to remove the line containing the debug commit, write the file and close your editor, and git will tell you something along the lines of:
Successfully rebased and updated refs/heads/master.
Now you can just merge in that branch to master.
UPDATE: It should be noted that altering history with rebase
should only happen on private branches. If this branch has been exposed to the public, use git revert
as proposed by other answerer.