Well, to be honest, skill checks don't earn you XP. Thats a bad thing, because it doesn't reward less combat-oriented characters. It's all about bashing monsters in D&D, isn't it?
The argumentation is that every PC contributes to the parties success with all of his abilities. Thats why XP for challenges are nearly evenly cashed out to every member of the party.
Example 1: After a fight, all contributing party members get XP for overcoming the foes CR. It doesn't matter, who did most damage or if one of them just did nothing except being there.
Example 2: The party rogue disarms a trap. All party members gain XP for overcoming the trap (traps are assigned CR, see DMG)
The trap part is sort of XP for skill checks, so you could tweak it for other skill challenges, such as climbing a cliff, jumping over a chasm and so on... Remember, the skill check must be needed to overcome a challenge, that is a situation dangerous to the PC.