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 (
    77716, 77715, 77714, 77713, 77712, 77711, 
    77710, 77709, 77708, 77707, 77706, 
    77705, 77704, 77703, 77702, 77701, 
    77700, 77699, 77698, 77697, 77696, 
    77695, 77694, 77693, 77692, 77691, 
    77690, 77689
  ) 
  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 0.00078

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 56 Using where

Result

product_id price
77689 1.69000000
77690 1.69000000
77691 1.69000000
77692 1.69000000
77693 1.69000000
77694 1.69000000
77695 1.69000000
77696 1.69000000
77697 1.69000000
77698 1.69000000
77699 1.69000000
77700 1.69000000
77701 1.69000000
77702 1.69000000
77703 1.69000000
77704 1.69000000
77705 1.69000000
77706 1.69000000
77707 1.69000000
77708 1.69000000
77709 1.69000000
77710 1.69000000
77711 1.69000000
77712 1.69000000
77713 1.69000000
77714 1.69000000
77715 1.69000000
77716 1.69000000