You should definitely go for the first... with both invoices and invoices_items. It is more normalized. The invoice date and other invoice data you may want to add in the future (number, status, date_delivered or other such stuff) should reside in its own table.
If you opt for the second solution you will have complex maintenance issues. If you want to change the invoice date, you will have to do so on all invoices_items rows. And you will never be sure you just have one single date on all rows. If data can go wrong... it will. To avoid this try to have all the data in the correct table, where it resides logically. Do not repeat it on multiple rows, just to save yourself the creation of one table.