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

Query time 0.00233

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 (630,617,474,651,623,618,475,622,631,652,653,619,476,625,633,620,627,626,624,634,473,636,578,616,637,638,621,629,639,640,650,641,662,642,643,644,645,646,647)) and (`softwarepirmam_hewadelivard_cscart_4`.`cscart_categories`.`category_id` <> 264))"
    }
  }
}