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 (
    1232255, 1231934, 1232132, 1231415, 
    1231691, 1232067, 1231619, 1231444, 
    1231916, 1232342, 1232130, 1231689, 
    1231062, 1231550, 1231554, 1231061, 
    1232131, 1231263, 1231700, 1232118, 
    1232182, 1231275, 1231272, 1232128, 
    1232127, 1231692, 1231186, 1198910, 
    2274249, 1232548, 1231372, 1231547
  ) 
  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 0.00184

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "75.30"
    },
    "grouping_operation": {
      "using_filesort": false,
      "table": {
        "table_name": "cscart_product_prices",
        "access_type": "range",
        "possible_keys": [
          "usergroup",
          "product_id",
          "lower_limit",
          "usergroup_id"
        ],
        "key": "usergroup",
        "used_key_parts": [
          "product_id",
          "usergroup_id",
          "lower_limit"
        ],
        "key_length": "9",
        "rows_examined_per_scan": 64,
        "rows_produced_per_join": 64,
        "filtered": "100.00",
        "cost_info": {
          "read_cost": "68.90",
          "eval_cost": "6.40",
          "prefix_cost": "75.30",
          "data_read_per_join": "1K"
        },
        "used_columns": [
          "product_id",
          "price",
          "percentage_discount",
          "lower_limit",
          "usergroup_id"
        ],
        "attached_condition": "((`maniamall_cscart`.`cscart_product_prices`.`lower_limit` = 1) and (`maniamall_cscart`.`cscart_product_prices`.`product_id` in (1232255,1231934,1232132,1231415,1231691,1232067,1231619,1231444,1231916,1232342,1232130,1231689,1231062,1231550,1231554,1231061,1232131,1231263,1231700,1232118,1232182,1231275,1231272,1232128,1232127,1231692,1231186,1198910,2274249,1232548,1231372,1231547)) and (`maniamall_cscart`.`cscart_product_prices`.`usergroup_id` in (0,1)))"
      }
    }
  }
}

Result