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 (
    85913, 85912, 85911, 86694, 85855, 85819, 
    85809, 86655, 86584, 86583, 86582, 
    85751, 85702, 85701, 85691, 86647, 
    85891, 85890, 85889, 85888
  ) 
  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
85691 1.69000000
85701 1.69000000
85702 1.69000000
85751 1.69000000
85809 1.69000000
85819 1.69000000
85855 1.69000000
85888 1.69000000
85889 1.69000000
85890 1.69000000
85891 1.69000000
85911 1.69000000
85912 1.69000000
85913 1.69000000
86582 1.69000000
86583 1.69000000
86584 1.69000000
86647 1.69000000
86655 1.69000000
86694 1.69000000