Converting array layout php

Converting following array to the one below:

    $query1 = "SELECT skills.Title FROM skills INNER JOIN member_has_skills ON member_has_skills.skills_Skill_id = skills.Skill_id WHERE member_has_skills.member_Member_id='$memberid_esc'";
    $memberskills = $db->readQuery($query1);

    //First array is what is being returned from database $memberskills

    foreach ($memberskills as $mskill){
        $mskills[] = $mskill[Title]; 
    }

        //the second array is what we wanted to convert to $mskills