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 (
    66716, 66715, 66714, 66713, 66712, 66711, 
    66710, 66709, 66708, 66707, 66706, 
    66705, 66704, 66703, 66702, 66701, 
    66700, 66698, 66697, 66696, 66695, 
    66694, 66693, 66692
  ) 
  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 0.00071

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 48 Using where

Result

product_id price
66692 1.69000000
66693 1.69000000
66694 1.69000000
66695 1.69000000
66696 1.69000000
66697 1.69000000
66698 1.69000000
66700 1.69000000
66701 1.69000000
66702 1.69000000
66703 1.69000000
66704 1.69000000
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