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 (
    85887, 85886, 85885, 85884, 85883, 85882, 
    85881, 85880, 85879, 85878, 85877, 
    85876, 85875, 85874, 85873, 85872, 
    85871, 85870, 85869, 85868
  ) 
  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
85868 1.69000000
85869 1.69000000
85870 1.69000000
85871 1.69000000
85872 1.69000000
85873 1.69000000
85874 1.69000000
85875 1.69000000
85876 1.69000000
85877 1.69000000
85878 1.69000000
85879 1.69000000
85880 1.69000000
85881 1.69000000
85882 1.69000000
85883 1.69000000
85884 1.69000000
85885 1.69000000
85886 1.69000000
85887 1.69000000