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 (1128, 1134, 1140, 1141, 1147) 
  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 0.00034

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
1128 6952.000000
1134 6952.000000
1140 6952.000000
1141 6952.000000
1147 6952.000000