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 (
    95010, 95009, 93344, 95875, 95866, 95836, 
    95164, 92917, 95835, 95801, 95800, 
    95852, 95744, 95743, 95742, 95741, 
    95701, 95547, 95538, 95302
  ) 
  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 0.00063

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
92917 1.69000000
93344 1.69000000
95009 1.69000000
95010 1.69000000
95164 1.69000000
95302 1.69000000
95538 1.69000000
95547 1.69000000
95701 1.69000000
95741 1.69000000
95742 1.69000000
95743 1.69000000
95744 1.69000000
95800 1.69000000
95801 1.69000000
95835 1.69000000
95836 1.69000000
95852 1.69000000
95866 1.69000000
95875 1.69000000