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Both in Sindarin and quenya, consonant clusters with an initial s were simplified in two steps: First, the stop became aspirated and the s was dropped

EDIT 1: Some more information gleened from the dictionary

Both in Sindarin and Quenya, consonant clusters with an initial s were simplified in two steps: First, the stop became aspirated and the s was dropped

EDIT 1: Some more information gleaned from the dictionary

EDIT: Some more information gleened from the dictionary

EDIT 3: Evolution of initial sp-, st-, and sk-

Both in Sindarin and quenya, consonant clusters with an initial s were simplified in two steps: First, the stop became aspirated and the s was dropped

 sp st sk -> pʰ tʰ kʰ

and than the aspirated stops became voiceless fricatives

 pʰ tʰ kʰ -> f θ h

In Quenya, also the so-created θ's became s later, such that the net development of Quenya is

  st -> s

EDIT 1: Some more information gleened from the dictionary

EDIT 2: The grammatical changes aren't explained in great detail. It seems that Tolkien applied some handwavium here when he states that Quenya was consciously changed for greater clarity. On the other hand, Sindarin has evolved naturally (in Tolkiens internal history) in the woodlands of Middle Earth where everything is interwoven with everything.