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 (
    5558, 4470, 1906, 780, 2230, 4453, 4457, 
    656, 725, 727, 670, 667, 681, 690, 654, 
    705, 682
  ) 
  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 0.00041

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "40.81"
    },
    "grouping_operation": {
      "using_filesort": false,
      "table": {
        "table_name": "cscart_product_prices",
        "access_type": "range",
        "possible_keys": [
          "membership",
          "product_id",
          "lower_limit",
          "membership_id"
        ],
        "key": "product_id",
        "used_key_parts": [
          "product_id"
        ],
        "key_length": "3",
        "rows_examined_per_scan": 17,
        "rows_produced_per_join": 3,
        "filtered": "19.99",
        "index_condition": "(`ea201_francemaqu`.`cscart_product_prices`.`product_id` in (5558,4470,1906,780,2230,4453,4457,656,725,727,670,667,681,690,654,705,682))",
        "cost_info": {
          "read_cost": "40.13",
          "eval_cost": "0.68",
          "prefix_cost": "40.81",
          "data_read_per_join": "81"
        },
        "used_columns": [
          "product_id",
          "price",
          "lower_limit",
          "usergroup_id",
          "percentage_discount"
        ],
        "attached_condition": "((`ea201_francemaqu`.`cscart_product_prices`.`lower_limit` = 1) and (`ea201_francemaqu`.`cscart_product_prices`.`usergroup_id` in (0,1)))"
      }
    }
  }
}