SELECT 
  cscart_product_prices.product_id, 
  MIN(
    IF(
      cscart_product_prices.percentage_discount = 0, 
      cscart_product_prices.price, 
      cscart_product_prices.price - (
        cscart_product_prices.price * cscart_product_prices.percentage_discount
      )/ 100
    )
  ) AS price 
FROM 
  cscart_product_prices 
WHERE 
  cscart_product_prices.product_id IN (
    165, 166, 86, 106, 105, 101, 33, 32, 163, 
    155, 55, 69, 184, 183, 133, 132, 125, 
    120, 146, 147, 117, 113, 157, 331, 335, 
    339, 341, 355, 356, 357, 358, 359
  ) 
  AND cscart_product_prices.lower_limit = 1 
  AND cscart_product_prices.usergroup_id IN (0, 1) 
GROUP BY 
  cscart_product_prices.product_id

Query time 0.00108

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "84.20"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "table": {
        "table_name": "cscart_product_prices",
        "access_type": "ref",
        "possible_keys": [
          "usergroup",
          "product_id",
          "lower_limit",
          "usergroup_id"
        ],
        "key": "lower_limit",
        "used_key_parts": [
          "lower_limit"
        ],
        "key_length": "3",
        "ref": [
          "const"
        ],
        "rows_examined_per_scan": 376,
        "rows_produced_per_join": 7,
        "filtered": "1.98",
        "index_condition": "(`pankajecarter_systemfour`.`cscart_product_prices`.`lower_limit` <=> 1)",
        "cost_info": {
          "read_cost": "9.00",
          "eval_cost": "1.49",
          "prefix_cost": "84.20",
          "data_read_per_join": "179"
        },
        "used_columns": [
          "product_id",
          "price",
          "percentage_discount",
          "lower_limit",
          "usergroup_id"
        ],
        "attached_condition": "((`pankajecarter_systemfour`.`cscart_product_prices`.`product_id` in (165,166,86,106,105,101,33,32,163,155,55,69,184,183,133,132,125,120,146,147,117,113,157,331,335,339,341,355,356,357,358,359)) and (`pankajecarter_systemfour`.`cscart_product_prices`.`usergroup_id` in (0,1)))"
      }
    }
  }
}