SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    303, 315, 314, 319, 297, 318, 302, 320, 
    323, 324, 331, 335
  ) 
  AND category_id != 264

Query time 0.00035

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "3.27"
    },
    "table": {
      "table_name": "cscart_categories",
      "access_type": "ALL",
      "possible_keys": [
        "PRIMARY",
        "parent",
        "p_category_id"
      ],
      "rows_examined_per_scan": 26,
      "rows_produced_per_join": 14,
      "filtered": "53.85",
      "cost_info": {
        "read_cost": "1.88",
        "eval_cost": "1.40",
        "prefix_cost": "3.28",
        "data_read_per_join": "43K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "((`kcoffee`.`cscart_categories`.`parent_id` in (303,315,314,319,297,318,302,320,323,324,331,335)) and (`kcoffee`.`cscart_categories`.`category_id` <> 264))"
    }
  }
}