SELECT 
  tmall_product_prices.product_id, 
  COALESCE(
    tmall_master_products_storefront_min_price.price, 
    MIN(
      IF(
        tmall_product_prices.percentage_discount = 0, 
        tmall_product_prices.price, 
        tmall_product_prices.price - (
          tmall_product_prices.price * tmall_product_prices.percentage_discount
        )/ 100
      )
    )
  ) AS price 
FROM 
  tmall_product_prices 
  LEFT JOIN tmall_master_products_storefront_min_price ON tmall_master_products_storefront_min_price.product_id = tmall_product_prices.product_id 
  AND tmall_master_products_storefront_min_price.storefront_id = 1 
WHERE 
  tmall_product_prices.product_id IN (
    59, 58, 60, 172, 134, 135, 168, 167, 169, 
    42, 39, 40, 37, 74, 73, 71, 75, 72
  ) 
  AND tmall_product_prices.lower_limit = 1 
  AND tmall_product_prices.usergroup_id IN (0, 1) 
GROUP BY 
  tmall_product_prices.product_id

Query time 0.00796

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost": 0.044687897,
    "nested_loop": [
      {
        "table": {
          "table_name": "tmall_master_products_storefront_min_price",
          "access_type": "system",
          "possible_keys": ["PRIMARY"],
          "rows": 0,
          "filtered": 0,
          "const_row_not_found": true
        }
      },
      {
        "table": {
          "table_name": "tmall_product_prices",
          "access_type": "range",
          "possible_keys": [
            "usergroup",
            "product_id",
            "lower_limit",
            "usergroup_id"
          ],
          "key": "product_id",
          "key_length": "3",
          "used_key_parts": ["product_id"],
          "loops": 1,
          "rows": 18,
          "cost": 0.03350794,
          "filtered": 97.28681946,
          "index_condition": "tmall_product_prices.product_id in (59,58,60,172,134,135,168,167,169,42,39,40,37,74,73,71,75,72)",
          "attached_condition": "tmall_product_prices.lower_limit = 1 and tmall_product_prices.usergroup_id in (0,1)"
        }
      }
    ]
  }
}