SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    2739, 2753, 2754, 2871, 3135, 3290, 920
  ) 
  AND category_id != 414

Query time 0.00045

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "11.21"
    },
    "table": {
      "table_name": "cscart_categories",
      "access_type": "range",
      "possible_keys": [
        "PRIMARY",
        "parent",
        "p_category_id"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 21,
      "rows_produced_per_join": 21,
      "filtered": "100.00",
      "index_condition": "(`s2cart`.`cscart_categories`.`parent_id` in (2739,2753,2754,2871,3135,3290,920))",
      "cost_info": {
        "read_cost": "9.11",
        "eval_cost": "2.10",
        "prefix_cost": "11.21",
        "data_read_per_join": "74K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`s2cart`.`cscart_categories`.`category_id` <> 414)"
    }
  }
}