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 (
    33523, 33522, 33521, 33520, 33519, 33518, 
    33517, 33516, 33515, 33514, 33513, 
    33512, 33511, 33510, 33509
  ) 
  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 0.00110

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 30 Using where

Result

product_id price
33509 1.69000000
33510 1.69000000
33511 1.69000000
33512 1.69000000
33513 1.69000000
33514 1.69000000
33515 1.69000000
33516 1.69000000
33517 1.69000000
33518 1.69000000
33519 1.69000000
33520 1.69000000
33521 1.69000000
33522 1.69000000
33523 1.69000000