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 (
    6243, 6290, 4074, 6274, 6222, 6219, 3254, 
    4100, 4097, 6209, 6245, 6285, 6258, 
    6329, 6270, 6269, 6268, 6267, 6266, 
    6265
  ) 
  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 0.00075

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
3254 1.69000000
4074 1.69000000
4097 1.69000000
4100 1.69000000
6209 1.69000000
6219 1.69000000
6222 1.69000000
6243 1.69000000
6245 1.69000000
6258 1.69000000
6265 1.69000000
6266 1.69000000
6267 1.69000000
6268 1.69000000
6269 1.69000000
6270 1.69000000
6274 1.69000000
6285 1.69000000
6290 1.69000000
6329 1.69000000