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 (
    95595, 95594, 95593, 95592, 95591, 95590, 
    95589, 95588, 95587, 95586, 95585, 
    95584, 95583, 95582, 95581, 95580, 
    95579, 95578, 95577, 95576, 95575, 
    95574, 95573, 95572, 95571, 94905, 
    95440, 95439, 94679, 94678, 94677, 
    94676, 94675, 94674, 94673, 94672, 
    94659, 94629, 94628, 94626
  ) 
  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 0.00096

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 80 Using where

Result

product_id price
94626 1.69000000
94628 1.69000000
94629 1.69000000
94659 1.69000000
94672 1.69000000
94673 1.69000000
94674 1.69000000
94675 1.69000000
94676 1.69000000
94677 1.69000000
94678 1.69000000
94679 1.69000000
94905 1.69000000
95439 1.69000000
95440 1.69000000
95571 1.69000000
95572 1.69000000
95573 1.69000000
95574 1.69000000
95575 1.69000000
95576 1.69000000
95577 1.69000000
95578 1.69000000
95579 1.69000000
95580 1.69000000
95581 1.69000000
95582 1.69000000
95583 1.69000000
95584 1.69000000
95585 1.69000000
95586 1.69000000
95587 1.69000000
95588 1.69000000
95589 1.69000000
95590 1.69000000
95591 1.69000000
95592 1.69000000
95593 1.69000000
95594 1.69000000
95595 1.69000000