If the directories are empty, then you can use rmdir - but without the -p, because the parent won't be empty if you are not removing all of the subdirs
Code:
$ mkdir -p a/{b..g}
$ ls a
b c d e f g
$
$ rmdir a/{b,c,g}
$ ls a
d e f
If the subdirs are non-empty, then you will need to use rm -r as sudodus says
Code:
$ mkdir -p a/{b..g}
$ touch -p a/{b..g}/afile
$ rmdir a/{b,c,g}
rmdir: failed to remove `a/b': Directory not empty
rmdir: failed to remove `a/c': Directory not empty
rmdir: failed to remove `a/g': Directory not empty
$
$ rm -r a/{b,c,g}
$ ls a
d e f
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