I've products-filter relation table.
For example: I want to select all products with color red and yellow which have medium size
WHERE (filter_id = 208 OR filter_id = 211) AND filter_id = 210
Looks like you want to group your data by
product_id and the take only those having the conditions you mentioned
select product_id from your_table group by product_id having sum(filter_id = 210) > 0 and sum(filter_id = 208 OR filter_id = 211) > 0