SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    623, 651, 474, 630, 617, 622, 652, 618, 
    631, 475, 653, 619, 476, 625, 633, 627, 
    620, 624, 626, 634, 473, 578, 636, 637, 
    616, 621, 638, 629, 639, 650, 640, 662, 
    641, 642, 643, 644, 645, 646, 647
  ) 
  AND category_id != 264

Query time 0.00205

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "37.54"
    },
    "table": {
      "table_name": "cscart_categories",
      "access_type": "ALL",
      "possible_keys": [
        "PRIMARY",
        "parent",
        "p_category_id"
      ],
      "rows_examined_per_scan": 347,
      "rows_produced_per_join": 119,
      "filtered": "34.58",
      "cost_info": {
        "read_cost": "25.54",
        "eval_cost": "12.00",
        "prefix_cost": "37.54",
        "data_read_per_join": "375K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "((`softwarepirmam_hewadelivard_cscart_4`.`cscart_categories`.`parent_id` in (623,651,474,630,617,622,652,618,631,475,653,619,476,625,633,627,620,624,626,634,473,578,636,637,616,621,638,629,639,650,640,662,641,642,643,644,645,646,647)) and (`softwarepirmam_hewadelivard_cscart_4`.`cscart_categories`.`category_id` <> 264))"
    }
  }
}