A fault is stored, but conditions aren't destructive right now
One of the computer's self-tests came back out of range — an oxygen-sensor reading drifting, a fuel-vapor (EVAP) leak, a sensor voltage that wandered, a misfire pattern in the history — and it stored a diagnostic trouble code. The engine keeps running, often on conservative backup logic, and the light stays on to flag the recorded fault until it's read and repaired.
Drive gently and book a scan within a few days. Hold off on towing and long highway hauls until you know what set the code.