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 (
    519, 520, 521, 522, 523, 524, 525, 526, 
    527, 528, 529, 530, 531, 532, 533, 534, 
    535, 536, 537, 538, 539, 540, 541, 542
  ) 
  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 0.00046

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "57.61"
    },
    "grouping_operation": {
      "using_filesort": false,
      "table": {
        "table_name": "cscart_product_prices",
        "access_type": "range",
        "possible_keys": [
          "usergroup",
          "product_id",
          "lower_limit",
          "usergroup_id"
        ],
        "key": "product_id",
        "used_key_parts": [
          "product_id"
        ],
        "key_length": "3",
        "rows_examined_per_scan": 24,
        "rows_produced_per_join": 4,
        "filtered": "19.62",
        "index_condition": "(`danishecarter_latest`.`cscart_product_prices`.`product_id` in (519,520,521,522,523,524,525,526,527,528,529,530,531,532,533,534,535,536,537,538,539,540,541,542))",
        "cost_info": {
          "read_cost": "56.67",
          "eval_cost": "0.94",
          "prefix_cost": "57.61",
          "data_read_per_join": "150"
        },
        "used_columns": [
          "product_id",
          "price",
          "percentage_discount",
          "lower_limit",
          "usergroup_id"
        ],
        "attached_condition": "((`danishecarter_latest`.`cscart_product_prices`.`lower_limit` = 1) and (`danishecarter_latest`.`cscart_product_prices`.`usergroup_id` in (0,1)))"
      }
    }
  }
}