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 (
    9878, 10434, 10426, 10034, 10413, 9881, 
    10033, 10438, 10441, 10041, 10440, 
    10037
  ) 
  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 0.00043

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_product_prices range usergroup,product_id,lower_limit,usergroup_id product_id 3 13 Using index condition; Using where

Result

product_id price
9878 41.460000
9881 41.460000
10033 44.300000
10034 62.910000
10037 73.100000
10041 44.300000
10413 52.920000
10426 52.640000
10434 77.850000
10438 83.600000
10440 80.850000
10441 69.930000