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 (
    1127, 1132, 1136, 1137, 1138, 1143, 1144, 
    1145, 1146, 1128, 1130, 1133, 1139, 
    1134, 1140, 1141, 1147, 1148, 1149, 
    1142, 1150, 1151, 1152, 1153, 1129, 
    1154, 1135, 1131
  ) 
  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 0.00042

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_product_prices ALL usergroup,product_id,lower_limit,usergroup_id 29 Using where; Using temporary; Using filesort

Result

product_id price
1127 3920.000000
1128 6952.000000
1129 3920.000000
1130 6952.000000
1131 3920.000000
1132 3920.000000
1133 6952.000000
1134 6952.000000
1135 3920.000000
1136 3920.000000
1137 3920.000000
1138 3920.000000
1139 6952.000000
1140 6952.000000
1141 6952.000000
1142 6952.000000
1143 3920.000000
1144 3920.000000
1145 3920.000000
1146 3920.000000
1147 6952.000000
1148 6952.000000
1149 6952.000000
1150 6952.000000
1151 6952.000000
1152 6952.000000
1153 6952.000000
1154 3500.000000