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 (
    167, 169, 42, 39, 40, 205, 37, 74, 73, 71, 
    75, 72, 70, 156, 175, 43, 76, 56, 57, 30, 
    246, 208, 173, 229, 211, 210, 209, 67, 
    25, 213, 215, 226
  ) 
  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 0.00087

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "117.98"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "64.00"
      },
      "table": {
        "table_name": "cscart_product_prices",
        "access_type": "ALL",
        "possible_keys": [
          "usergroup",
          "product_id",
          "lower_limit",
          "usergroup_id"
        ],
        "rows_examined_per_scan": 254,
        "rows_produced_per_join": 63,
        "filtered": "25.20",
        "cost_info": {
          "read_cost": "41.18",
          "eval_cost": "12.80",
          "prefix_cost": "53.98",
          "data_read_per_join": "1K"
        },
        "used_columns": [
          "product_id",
          "price",
          "percentage_discount",
          "lower_limit",
          "usergroup_id"
        ],
        "attached_condition": "((`rajansecarter_single_store_19_jan`.`cscart_product_prices`.`lower_limit` = 1) and (`rajansecarter_single_store_19_jan`.`cscart_product_prices`.`product_id` in (167,169,42,39,40,205,37,74,73,71,75,72,70,156,175,43,76,56,57,30,246,208,173,229,211,210,209,67,25,213,215,226)) and (`rajansecarter_single_store_19_jan`.`cscart_product_prices`.`usergroup_id` in (0,1)))"
      }
    }
  }
}