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 (
    78020, 78019, 78018, 78017, 78016, 78015, 
    78014, 78013, 78012, 78011, 78010, 
    78009, 78008, 78007, 78006, 78005, 
    78004, 78003, 78002, 78001
  ) 
  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
78001 1.69000000
78002 1.69000000
78003 1.69000000
78004 1.69000000
78005 1.69000000
78006 1.69000000
78007 1.69000000
78008 1.69000000
78009 1.69000000
78010 1.69000000
78011 1.69000000
78012 1.69000000
78013 1.69000000
78014 1.69000000
78015 1.69000000
78016 1.69000000
78017 1.69000000
78018 1.69000000
78019 1.69000000
78020 1.69000000