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 (
    84384, 84362, 84686, 84650, 84666, 84450, 
    84224, 84570, 84398, 84462, 84460, 
    84459, 84486, 84427, 84426, 84425, 
    84424, 84423, 84422, 84421
  ) 
  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 0.00052

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
84224 1.69000000
84362 1.69000000
84384 1.69000000
84398 1.69000000
84421 1.69000000
84422 1.69000000
84423 1.69000000
84424 1.69000000
84425 1.69000000
84426 1.69000000
84427 1.69000000
84450 1.69000000
84459 1.69000000
84460 1.69000000
84462 1.69000000
84486 1.69000000
84570 1.69000000
84650 1.69000000
84666 1.69000000
84686 1.69000000