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 (
    68920, 68919, 68918, 68917, 68916, 68915, 
    68914, 66717, 66716, 66715, 66714, 
    66713, 66712, 66711, 66710, 66709, 
    66708, 66707, 66706, 66705
  ) 
  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 0.00085

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
66705 1.69000000
66706 1.69000000
66707 1.69000000
66708 1.69000000
66709 1.69000000
66710 1.69000000
66711 1.69000000
66712 1.69000000
66713 1.69000000
66714 1.69000000
66715 1.69000000
66716 1.69000000
66717 8.99000000
68914 1.69000000
68915 1.69000000
68916 1.69000000
68917 1.69000000
68918 1.69000000
68919 1.69000000
68920 1.69000000