I understand that a knight's tour can be represented as a bipartite graph. Using colours, the odd moves can be coloured black and the even moves white. Drawing it out myself, I see that I do get a 2-colourable graph.
However, how does one mathematically prove that a knight's tour always results in a bipartite graph?
You have already proved it
The definition of a bipartite graph (Wikipedia) is:
A knight can be on either a white square or a black square. If we let $U$ be the set of white squares that the knight visits, and $V$ the set of black squares that the knight visits, then:
$U$ an $V$ are clearly disjoint (they contain no common elements)
every edge (move) necessarily goes from a white square to a black square, or vice-versa. Therefore, every edge connects a vertex in $U$ with a vertex in $V$
So our graph satisfies the definition of a bipartite graph.