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 (
    95939, 95938, 95937, 95936, 95935, 95934, 
    95933, 95932, 95931, 95930
  ) 
  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 0.00041

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 20 Using where

Result

product_id price
95930 1.69000000
95931 1.69000000
95932 1.69000000
95933 1.69000000
95934 1.69000000
95935 1.69000000
95936 1.69000000
95937 1.69000000
95938 1.69000000
95939 1.69000000