Должно быть так:
SQL> create table instructor (ins_id varchar2(10) primary key);
Table created.
SQL> create table course(
2 CourseNum number(10) constraint course_CourseNum_pk primary key,
3 courseName varchar2(40),
4 startDate date,
5 endDate date,
6 Ins_ID varchar2(10),
7 constraint course_Ins_ID_fk foreign key (ins_id) --> you're missing "(ins_id)" here
8 references instructor (Ins_ID)
9 );
Table created.
SQL>
Или, альтернативно:
SQL> create table course(
2 CourseNum number(10) constraint course_CourseNum_pk primary key,
3 courseName varchar2(40),
4 startDate date,
5 endDate date,
6 Ins_ID varchar2(10) constraint course_Ins_ID_fk references instructor (Ins_ID)
7 );
Table created.
SQL>