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 (
    94, 96, 136, 90, 95, 89, 82, 84, 85, 88, 
    47, 138, 93, 87, 139, 83
  ) 
  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 0.00082

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "59.41"
    },
    "grouping_operation": {
      "using_filesort": false,
      "table": {
        "table_name": "cscart_ult_product_prices",
        "access_type": "range",
        "possible_keys": [
          "usergroup",
          "product_id",
          "company_id",
          "lower_limit",
          "usergroup_id"
        ],
        "key": "product_id",
        "used_key_parts": [
          "product_id"
        ],
        "key_length": "3",
        "rows_examined_per_scan": 31,
        "rows_produced_per_join": 4,
        "filtered": "13.92",
        "index_condition": "(`rajansecarter_single_store_19_jan`.`cscart_ult_product_prices`.`product_id` in (94,96,136,90,95,89,82,84,85,88,47,138,93,87,139,83))",
        "cost_info": {
          "read_cost": "58.55",
          "eval_cost": "0.86",
          "prefix_cost": "59.41",
          "data_read_per_join": "138"
        },
        "used_columns": [
          "product_id",
          "price",
          "percentage_discount",
          "lower_limit",
          "company_id",
          "usergroup_id"
        ],
        "attached_condition": "((`rajansecarter_single_store_19_jan`.`cscart_ult_product_prices`.`company_id` = 1) and (`rajansecarter_single_store_19_jan`.`cscart_ult_product_prices`.`lower_limit` = 1) and (`rajansecarter_single_store_19_jan`.`cscart_ult_product_prices`.`usergroup_id` in (0,0,1)))"
      }
    }
  }
}