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 (
    43255, 43254, 43253, 43252, 43251, 43250, 
    43249, 42769, 42768, 42767, 42766, 
    42765, 42764, 42763, 42762, 42761, 
    42759, 42758, 42757, 42756
  ) 
  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 0.00072

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
42756 1.69000000
42757 1.69000000
42758 1.69000000
42759 1.69000000
42761 1.69000000
42762 1.69000000
42763 1.69000000
42764 1.69000000
42765 1.69000000
42766 1.69000000
42767 1.69000000
42768 1.69000000
42769 8.99000000
43249 1.69000000
43250 1.69000000
43251 1.69000000
43252 1.69000000
43253 1.69000000
43254 1.69000000
43255 1.69000000