The payoff of a plain vanilla swap with respect to measure $Q$ is : $$V_{\mathrm{swap}}(t) = \beta(t) \sum_{n=0}^{N-1} \tau_n E_t^Q \left( \dfrac{1}{\beta(T_{n+1})} ( L(T_n, T_n, T_{n+1}) - k) \right)$$
How do we get : $$V_{\mathrm{swap}}(t) = \beta(t) \sum_{n=0}^{N-1} \tau_n E_t^Q \left( \dfrac{1}{\beta(T_{n})} ( L(T_n, T_n, T_{n+1}) - k) \, P(T_n, T_{n+1})\right) $$
given
$$ P(T_n, T_{n+1}) = E^Q_t \left(\dfrac{1}{\beta(T_n, T_{n+1}}\right) $$
Note that the money-market numeraire is defined in terms of the short-term interest rate as
$$\beta(t) = \exp\left(\int_0^tr(s)ds\right),$$
and the forward price of a zero-coupon bond issued at the future date $T_n$ and maturing at $T_{n+1}$ is the risk-neutral conditional expectation of the discounted payoff:
$$P(T_n, T_{n+1}) = E^Q \left(\left.\exp\left(-\int_{T_n}^{T_{n+1}}r(s)ds\right)\right|\mathcal{F_n}\right)=E^Q \left(\left.\frac{\beta(T_n)}{\beta(T_{n+1})}\right|\mathcal{F_n}\right).$$
Using the tower property of conditional expectation $$E_t^Q \left( \dfrac{1}{\beta(T_{n+1})} ( L(T_n, T_n, T_{n+1}) - k) \right)\\=E_t^Q \left[E^Q\left( \left.\dfrac{1}{\beta(T_{n+1})} ( L(T_n, T_n, T_{n+1}) - k)\right|\mathcal{F}_n\right) \right]\\=E_t^Q \left[E^Q\left( \left.\frac1{\beta(T_n)}\dfrac{\beta(T_n)}{\beta(T_{n+1})} ( L(T_n, T_n, T_{n+1}) - k)\right|\mathcal{F}_n\right) \right]$$
Taking what is known at time $T_n$ out of the inner conditional expectation we get
$$E_t^Q \left( \dfrac{1}{\beta(T_{n+1})} ( L(T_n, T_n, T_{n+1}) - k) \right)\\=E_t^Q \left[\frac1{\beta(T_n)}( L(T_n, T_n, T_{n+1}) - k)E^Q\left( \left.\dfrac{\beta(T_n)}{\beta(T_{n+1})} \right|\mathcal{F}_n\right) \right]\\=E_t^Q \left( \dfrac{1}{\beta(T_{n})} ( L(T_n, T_n, T_{n+1}) - k) \, P(T_n, T_{n+1})\right)$$