Been dealing with the same issue on my 2012 1500 for several months now. It was intermittent at first, lights would go off when the truck was shut off and restarted, but now they are on all the time.
My research indicated that the most likely cause was a bad/failing wheel speed sensor. Best way to determine which sensor is bad, or if it's a more severe problem with something like the abs module, is a scan tool capable of reading ABS codes.
In my case, I'm just living with the lights for the time being. My front end is all new (went ahead and rebuilt it all, including wheel bearings recently when I found a bad ball joint), so I'm fairly certain that my issue is one of the sensors on the rear axle. I"m probably going to get an OBDlink mx+ and the ALFA OBD software soon, and hopefully will have some time over the holidays to diagnose/repair.