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 (
    4643, 4641, 4371, 6277, 6210, 6313, 6283, 
    6284, 6205, 6204, 6203, 4973, 6206, 
    4956, 34983, 5183, 5511, 5657, 5368, 
    5364
  ) 
  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
4371 1.69000000
4641 1.69000000
4643 1.69000000
4956 1.69000000
4973 1.69000000
5183 1.69000000
5364 1.69000000
5368 1.69000000
5511 1.69000000
5657 1.69000000
6203 1.69000000
6204 1.69000000
6205 1.69000000
6206 1.69000000
6210 1.69000000
6277 1.69000000
6283 1.69000000
6284 1.69000000
6313 1.69000000
34983 1.69000000