I would do it this way. Take two events (t1,x1,y1,z1) and (t2,x2,y2,z2)
Using the lorentz transformations you can show that:
\Delta t' = \gamma (\Delta t - v\Delta x/c^2)
\Delta x' = \gamma (\Delta x - v\Delta t)
\Delta y' = \Delta y
\Delta z' = \Delta z
To get the above just use the lorentz transformations to calculate t1',x1'...t2',x2'... and then x2-x1 = \Delta x and x2'-x1' = \Delta x' etc...
Now just calculate out:
c^2*(\Delta t')^2 -(\Delta x')^2-(\Delta y')^2-(\Delta z')^2 by substituting the above formulas. You'll see that it comes out to:
c^2*(\Delta t)^2 -(\Delta x)^2-(\Delta y)^2-(\Delta z)^2
Showing that the euclidean formula (with + instead of -) is not invariant is simple. Just take two events let's say (0,0,0,0) and (t1,0,0,0)
Now c^2*(\Delta t)^2 +(\Delta x)^2+(\Delta y)^2+(\Delta z)^2
comes out to c^2*t1^2
for S' it comes out to (c^2+v^2) (\gamma)^2*t1^2
The two are not equal for nonzero v and t1.