SELECT 
  product_prices.product_id, 
  MIN(
    IF(
      product_prices.percentage_discount = 0, 
      product_prices.price, 
      product_prices.price - (
        product_prices.price * product_prices.percentage_discount
      )/ 100
    )
  ) AS price 
FROM 
  product_prices 
WHERE 
  product_prices.product_id IN (
    296855, 296866, 296896, 296812, 296865, 
    296898, 296877, 296920, 296889, 296921, 
    296926, 296849, 296814, 296859, 296873, 
    296839, 296893, 296841, 296919, 296881, 
    296861, 296883, 296838, 296853
  ) 
  AND product_prices.lower_limit = 1 
  AND product_prices.usergroup_id IN (0, 1) 
GROUP BY 
  product_prices.product_id

Query time 0.00361

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "20.66"
    },
    "grouping_operation": {
      "using_filesort": false,
      "table": {
        "table_name": "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": 2,
        "filtered": "10.00",
        "index_condition": "(`goimagine`.`product_prices`.`product_id` in (296855,296866,296896,296812,296865,296898,296877,296920,296889,296921,296926,296849,296814,296859,296873,296839,296893,296841,296919,296881,296861,296883,296838,296853))",
        "cost_info": {
          "read_cost": "20.42",
          "eval_cost": "0.24",
          "prefix_cost": "20.66",
          "data_read_per_join": "57"
        },
        "used_columns": [
          "id",
          "product_id",
          "price",
          "percentage_discount",
          "lower_limit",
          "usergroup_id"
        ],
        "attached_condition": "((`goimagine`.`product_prices`.`lower_limit` = 1) and (`goimagine`.`product_prices`.`usergroup_id` in (0,1)))"
      }
    }
  }
}