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 (
    77538, 77537, 77028, 77529, 77528, 76938, 
    76936, 76909, 77308, 77103, 77356, 
    77354, 77351, 77316, 77313, 76858, 
    76900, 76899, 77353, 77352
  ) 
  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 0.00079

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
76858 1.69000000
76899 1.69000000
76900 1.69000000
76909 1.69000000
76936 1.69000000
76938 1.69000000
77028 1.69000000
77103 1.69000000
77308 1.69000000
77313 1.69000000
77316 1.69000000
77351 1.69000000
77352 1.69000000
77353 1.69000000
77354 1.69000000
77356 1.69000000
77528 1.69000000
77529 1.69000000
77537 1.69000000
77538 1.69000000