SELECT 
  cscart_ult_product_prices.product_id, 
  MIN(
    IF(
      cscart_ult_product_prices.percentage_discount = 0, 
      cscart_ult_product_prices.price, 
      cscart_ult_product_prices.price - (
        cscart_ult_product_prices.price * cscart_ult_product_prices.percentage_discount
      )/ 100
    )
  ) AS price 
FROM 
  cscart_ult_product_prices 
WHERE 
  cscart_ult_product_prices.product_id IN (
    180, 181, 182, 183, 184, 185, 186, 187, 
    188, 189, 190, 191, 1, 5, 7, 8, 9, 10, 11, 
    12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 
    22, 23, 24
  ) 
  AND cscart_ult_product_prices.lower_limit = 1 
  AND cscart_ult_product_prices.company_id = 1 
  AND cscart_ult_product_prices.usergroup_id IN (0, 0, 1) 
GROUP BY 
  cscart_ult_product_prices.product_id

Query time 0.00095

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "60.00"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "table": {
        "table_name": "cscart_ult_product_prices",
        "access_type": "ref",
        "possible_keys": [
          "usergroup",
          "product_id",
          "company_id",
          "lower_limit",
          "usergroup_id"
        ],
        "key": "company_id",
        "used_key_parts": [
          "company_id"
        ],
        "key_length": "4",
        "ref": [
          "const"
        ],
        "rows_examined_per_scan": 240,
        "rows_produced_per_join": 8,
        "filtered": "3.42",
        "index_condition": "(`rajansecarter_single_store_19_jan`.`cscart_ult_product_prices`.`company_id` <=> 1)",
        "cost_info": {
          "read_cost": "12.00",
          "eval_cost": "1.64",
          "prefix_cost": "60.00",
          "data_read_per_join": "262"
        },
        "used_columns": [
          "product_id",
          "price",
          "percentage_discount",
          "lower_limit",
          "company_id",
          "usergroup_id"
        ],
        "attached_condition": "((`rajansecarter_single_store_19_jan`.`cscart_ult_product_prices`.`lower_limit` = 1) and (`rajansecarter_single_store_19_jan`.`cscart_ult_product_prices`.`product_id` in (180,181,182,183,184,185,186,187,188,189,190,191,1,5,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24)) and (`rajansecarter_single_store_19_jan`.`cscart_ult_product_prices`.`usergroup_id` in (0,0,1)))"
      }
    }
  }
}