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 (
    87311, 87310, 87309, 87308, 87307, 87306, 
    87660, 87619, 88817, 88816, 88815, 
    87791, 87923, 87293, 87292, 88787, 
    87884, 87017, 87994, 87888
  ) 
  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 0.00058

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
87017 1.69000000
87292 1.69000000
87293 1.69000000
87306 1.69000000
87307 1.69000000
87308 1.69000000
87309 1.69000000
87310 1.69000000
87311 1.69000000
87619 1.69000000
87660 1.69000000
87791 1.69000000
87884 1.69000000
87888 1.69000000
87923 1.69000000
87994 1.69000000
88787 1.69000000
88815 1.69000000
88816 1.69000000
88817 1.69000000