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 (
    87011, 86980, 86979, 86977, 86976, 86975, 
    86974, 86973, 86972, 86971, 86970, 
    86969, 87436, 87396, 87395, 87394, 
    87393, 87392, 87391, 87390
  ) 
  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 0.00066

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_product_prices range usergroup,product_id,lower_limit,usergroup_id usergroup 9 40 Using where

Result

product_id price
86969 1.69000000
86970 1.69000000
86971 1.69000000
86972 1.69000000
86973 1.69000000
86974 1.69000000
86975 1.69000000
86976 1.69000000
86977 1.69000000
86979 1.69000000
86980 1.69000000
87011 1.69000000
87390 1.69000000
87391 1.69000000
87392 1.69000000
87393 1.69000000
87394 1.69000000
87395 1.69000000
87396 1.69000000
87436 1.69000000